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Erschienen in:
2010 | OriginalPaper | Buchkapitel
PixelLaser: Computing Range from Monocular Texture
verfasst von : N. Lesperance, M. Leece, S. Matsumoto, M. Korbel, K. Lei, Z. Dodds
Erschienen in: Advances in Visual Computing
Verlag: Springer Berlin Heidelberg
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The impressive advances in robotic spatial reasoning over the past decade have relied primarily on rich sensory data provided by laser range finders. Relative to cameras, however, lasers are heavy, bulky, power-hungry, and expensive. This work proposes and evaluates an image-segmentation pipeline that produces range scans from ordinary webcameras. Starting with a nearest-neighbor classification of image patches, we investigate the tradeoffs in accuracy, resolution, calibration, and speed that come from estimating range-to-obstacles using only single images. Experiments atop the low-cost iRobot Create platform demonstrate the accessibility and power of this pixel-based alternative to laser scans.