Skip to main content
SpringerLink
Log in
Book cover

Intelligent Systems in Technical and Medical Diagnostics pp 357–368Cite as

Spatial Uncertainty Assessment in Visual Terrain Perception for a Mobile Robot

  • Conference paper

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 230))

Abstract

This paper addresses the issue of reliable terrain modelling from passive stereo vision data. An analytical uncertainty model for a dense stereo vision system is proposed. This model propagates the uncertainty from calibration through image processing, allowing for calculation of the uncertainty of measured 3D point coordinates. The use of this model in terrain mapping is shown with quantitative results.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Belter, D., Skrzypczyński, P.: Rough terrain mapping and classification for foothold selection in a walking robot. Journal of Field Robotics 28(4), 497–528 (2011)

    Article  MATH  Google Scholar 

  2. Belter, D., Łabęcki, P., Skrzypczyński, P.: Estimating terrain elevation maps from sparse and uncertain multi-sensor data. In: Proc. IEEE Int. Conf. on Robotics and Biomimetics, Guangzhou, pp. 715–722 (2012)

    Google Scholar 

  3. Bouguet, J.-Y.: Camera calibration toolbox for Matlab, http://www.vision.caltech.edu/bouguetj/calib_doc/index.html

  4. Di Leo, G., Liguori, C., Paolillo, A.: Covariance propagation for the uncertainty estimation in stereo vision. IEEE Trans. on Instrumentation and Measurement 60(5), 1664–1673 (2011)

    Article  Google Scholar 

  5. Dryanovski, I., Morris, W., Xiao, J.: Multi-volume occupancy grids: an efficient probabilistic 3D mapping model for micro aerial vehicles. In: Proc. IEEE/RSJ Int. Conf. on Intell. Robots and Systems, Taipei, pp. 1553–1559 (2010)

    Google Scholar 

  6. Kim, W., et al.: Performance analysis and validation of a stereo vision system. In: IEEE Int. Conf. Systems, Man and Cybernetics, pp. 1409–1416 (2005)

    Google Scholar 

  7. Kolter, J.Z., Kim, Y., Ng, A.Y.: Stereo vision and terrain modeling for quadruped robots. In: IEEE Int. Conf. on Robotics and Automation, Kobe, pp. 1557–1564 (2009)

    Google Scholar 

  8. Konolige, K.: Small vision systems: Hardware and implementation. In: Proc. Eighth Int. Symp. on Robotics Research, Hayama, pp. 111–116 (1997)

    Google Scholar 

  9. Kweon, I.S., Kanade, T.: High-resolution terrain map from multiple sensor data. IEEE Trans. Pattern Analysis and Machine Intell. 14(2), 278–292 (1992)

    Article  Google Scholar 

  10. Łabęcki, P.: Improved data processing for an embedded stereo vision system of an inspection robot. In: Březina, T., Jabloński, R. (eds.) Mechatronics: Recent Technological and Scientific Advances, pp. 749–757. Springer (2011)

    Google Scholar 

  11. Łabęcki, P.: Measurement uncertainty in a terrain map building task using sterovision. Postȩpy Robotyki 2, 583–594 (2012)

    Google Scholar 

  12. Łabęcki, P., Belter, D.: Sensory system calibration method for a walking robot. Journal of Automation, Mobile Robotics and Intelligent Systems 7(2), 39–45 (2013)

    Google Scholar 

  13. Matthies, L., Shafer, S.A.: Error modeling in stereo navigation. IEEE Journal Robot. Autom. 3(3) (1987)

    Google Scholar 

  14. Miura, J., Shirai, Y.: An uncertainty model of stereo vision and its applications to vision-motion planning of robot. In: 13th Int. Joint Conf. on Artificial Intelligence, Chambery, pp. 1618–1623 (1993)

    Google Scholar 

  15. Rusu, R.B., et al.: Leaving flatland: Efficient real-time 3D perception and motion planning. Journal of Field Robotics 26(10), 841–862 (2009)

    Article  Google Scholar 

  16. Sahabi, H., Basu, A.: Analysis of error in depth perception with vergence and spatially varying sensing. Computer Vision and Image Understanding 63, 447–461 (1996)

    Article  Google Scholar 

  17. Ye, C., Borenstein, J.: A novel filter for terrain mapping with laser rangefinders. IEEE Trans. on Robotics and Automation 20(5), 913–921 (2004)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznan University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

    Przemysław Łabȩcki & Piotr Skrzypczyński

Authors
  1. Przemysław Łabȩcki
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Piotr Skrzypczyński
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Przemysław Łabȩcki .

Editor information

Editors and Affiliations

  1. , Institute of Control and, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246, Poland

    Jozef Korbicz

  2. , Institute of Control and, University of Zielona Gora, ul. Podgorna 50, Zielona Gora, 65-246, Poland

    Marek Kowal

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Łabȩcki, P., Skrzypczyński, P. (2014). Spatial Uncertainty Assessment in Visual Terrain Perception for a Mobile Robot. In: Korbicz, J., Kowal, M. (eds) Intelligent Systems in Technical and Medical Diagnostics. Advances in Intelligent Systems and Computing, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39881-0_30

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-39881-0_30

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39880-3

  • Online ISBN: 978-3-642-39881-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation