Range Synthesis for 3D Environment Mdeling三维环境建模的范围内的合成.pptVIP

Statistics in the Image Domain forMobile Robot Environment Modeling L. Abril Torres-Méndez and Gregory Dudek Centre for Intelligent Machines School of Computer Science McGill University Our Application Automatic generation of 3D maps. Robot navigation, localization - Ex. For rescue and inspection tasks. Robots are commonly equipped with camera(s) and laser rangefinder. Would like a full range map of the the environment. Simple acquisition of data Problem Context Pure vision-based methods Shape-from-X remains challenging, especially in unconstrained environments. Laser line scanners are commonplace, but Volume scanners remain exotic, costly, slow. Incomplete range maps are far easier to obtain that complete ones. Proposed solution: Combine visual and partial depth Shape-from-(partial) Shape Problem Statement Overview of the Method Approximate the composite of intensity and range data at each point as a Markov process. Infer complete range maps by estimating joint statistics of observed range and intensity. What knowledge does Intensity provide about Surfaces? Two examples of kind of inferences: What about Edges? Edges often detect depth discontinuities Very useful in the reconstruction process! Isophotes in Range Data Linear structures from initial range data All normals forming same angle with direction to eye Range synthesis basis Range and intensity images are correlated, in complicated ways, exhibiting useful structure. - Basis of shape from shading shape from darkness, but they are based on strong assumptions. The variations of pixels in the intensity and range images are related to the values elsewhere in the image(s). Related Work Probabilistic updating has been used for image restoration [e.g. Geman Geman, TPAMI 1984] as well as texture synthesis [e.g. Efros Leung, ICCV 1999]. Problems: Pure extrapolation/interpolation: is suitable only for textures with a stationary distribution can converge to in