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- Title
Design of a Terrain Mapping System for Low-cost Exploration Robots based on Stereo Vision.
- Authors
Cuno Zuniga, William Percy; Quispe Navarro, Jordan Jonathan; Pocohuanca Diaz, Juan Daniel; S., Jesus Talavera; A., Andres Montoya
- Abstract
This paper proposes a low-cost system for terrestrial mapping and exploration of inaccessible or subterranean environments by using stereo vision with two cameras, image processing and a developed algorithm based on disparity maps that reconstructs a 3D map of the explored environment. The tests were performed on a robot with two stereo vision cameras mounted on a turret with 360° freedom of movement. The tests showed that this proposed system allows to visualize the depth of the objects around the robot and builds a 360° scenario of the explored place.
- Subjects
TERRAIN mapping; BINOCULAR vision; MAP design; STEREOSCOPIC cameras; VISION; ROBOTS
- Publication
Przeglad Elektrotechniczny, 2023, Vol 99, Issue 5, p270
- ISSN
0033-2097
- Publication type
Article
- DOI
10.15199/48.2023.05.46