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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >Stereo-Vision Based 3D Modeling for Unmanned Ground Vehicles
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Stereo-Vision Based 3D Modeling for Unmanned Ground Vehicles

机译：基于立体视觉的无人地面车辆3D建模

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摘要

Instant Scene Modeler (iSM) is a vision system for generating calibrated photo-realistic 3D models of unknown environments quickly using stereo image sequences. Equipped with iSM, Unmanned Ground Vehicles (UGVs) can capture stereo images and create 3D models to be sent back to the base station, while they explore unknown environments. Rapid access to 3D models will increase the operator situational awareness and allow better mission planning and execution, as the models can be visualized from different views and used for relative measurements. Current military operations of UGVs in urban warfare threats involve the operator hand-sketching the environment from live video feed. iSM eliminates the need for an additional operator as the 3D model is generated automatically. The photo-realism of the models enhances the situational awareness of the mission and the models can also be used for change detection. iSM has been tested on our autonomous vehicle to create photo-realistic 3D models while the rover traverses in unknown environments. Moreover, a proof-of-concept iSM payload has been mounted on an iRobot PackBot with Wayfarer technology, which is equipped with autonomous urban reconnaissance capabilities. The Wayfarer PackBot UGV uses wheel odometry for localization and builds 2D occupancy grid maps from a laser sensor. While the UGV is following walls and avoiding obstacles, iSM captures and processes images to create photo-realistic 3D models. Experimental results show that iSM can complement Wayfarer PackBot's autonomous navigation in two ways. The photo-realistic 3D models provide better situational awareness than 2D grid maps. Moreover, iSM also recovers the camera motion, also known as the visual odometry. As wheel odometry error grows over time, this can help improve the wheel odometry for better localization.
机译：Instant Scene Modeler（iSM）是一种视觉系统，可使用立体图像序列快速生成未知环境的经过校准的逼真的3D模型。配备iSM的无人地面车辆（UGV）可以捕获立体图像并创建3D模型，然后在探索未知环境时将其发送回基站。快速访问3D模型将提高操作员的态势感知能力，并允许更好的任务计划和执行，因为可以从不同的视图将模型可视化并用于相对测量。 UGV在城市战争威胁中的当前军事行动涉及操作员从实时视频馈送中手动绘制环境。由于自动生成3D模型，因此iSM消除了对其他操作员的需求。模型的真实感增强了任务的态势感知，并且这些模型还可以用于变更检测。 iSM已在我们的自动驾驶汽车上经过测试，可以创建逼真的3D模型，而漫游车则在未知环境中移动。此外，概念验证iSM有效载荷已安装在具有Wayfarer技术的iRobot PackBot上，该技术具有自主的城市侦察功能。 Wayfarer PackBot UGV使用车轮里程计进行定位，并通过激光传感器构建2D占用栅格图。当UGV沿着墙壁躲避障碍物时，iSM捕获并处理图像以创建逼真的3D模型。实验结果表明，iSM可以通过两种方式补充Wayfarer PackBot的自主导航。逼真的3D模型比2D网格图提供了更好的态势感知。此外，iSM还可以恢复相机的运动，也称为视觉测距法。随着车轮里程计误差随着时间增长，这可以帮助改善车轮里程计以实现更好的定位。

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