%0 Journal Article
%T Novel real-time local two dimension map building method based on binocular vision<br>双目视觉的新颖实时局部2维地图构建方法
%A Chen Huahu
%A Jiang Yifei
%A Zhang Jianwu
%A Pan Yizhong
%A <br>陈华华
%A 蒋毅飞
%A 章坚武
%A 泮一忠
%J 中国图象图形学报
%D 2011
%I 
%X According to the characteristics of wheeled mobile robots, a novel method for real-time local two dimension(2D) map building based on binocular vision is proposed. Firstly, the principle of virtual height lines imaging in binocular vision system is proposed. The scene is partitioned into uniform grids, and virtual height line segments(VHLS) which do not exist in the scene are introduced. Each VHLS was projected into the stereo images in binocular vision system and formed a projection line segment(PLS).Finding the height of the scene is converted to finding the correspondence that has the maximum similarity metric on the PLS and in the searched horizontal disparity range. Then, a novel local 2D map building method is proposed. Similarity metric of the scene on the part of the PLS whose height is greater than the maximum which robots can overleap, is to determine whether the scene grid is an obstacle region or not. The experiment results show that the proposed method is valid and real-time for mobile robots, and can be used for building three dimension(3D) map.
%K binocular vision
%K two dimension map
%K virtual height line
%K robot navigation<br>双目视觉
%K 2维地图
%K 虚拟高度线
%K 机器人导航
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=D06194629680C940ACE75262F54B9D85&aid=361297288E25323374261650204BA1E4&yid=9377ED8094509821&vid=7801E6FC5AE9020C&iid=5D311CA918CA9A03&sid=A67C4D140E145357&eid=C2A302D88B1505F1&journal_id=1006-8961&journal_name=中国图象图形学报&referenced_num=0&reference_num=0