基于立体视觉的实时三维地图构建

Real-Time 3D Map-Building Based on Stereo Vision

提出了由视差图实时构建三维地图的算法。首先给出从视差图到车体坐标系下的三维地图的重建方法。其次建立车体坐标系与全局坐标系的转换关系,得到全局坐标系下的三维地图。最后建立全局坐标系下的全局地图,并实时地把当前时刻的三维地图融入全局地图。实验结果表明,该算法计算量小,鲁棒性强,能实时正确地构建地图。

A real time 3D map-building algorithm from disparity image was proposed , The paper discussed how to get the terrain map from the disparity image,and developed a conversion from the ALV-based coordinate to the globe coordinate. The terrain map under the globe coordinate was obtained. We propose an approach to integrate the terrain maps into the global 3D map. The experiment results indicate that the proposed algorithm can meet request of real time and validity.