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Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision

In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of wor...

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Main Authors: Nurnajmin Qasrina, Ann, Achmad, M. S. Hendriyawan, Bayuaji, Luhur, Mohd Razali, Daud, Pebrianti, Dwi
Format: Conference or Workshop Item
Language:English
Published: IEEE 2016
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf
http://umpir.ump.edu.my/id/eprint/15084/
https://doi.org/10.1109/I2CACIS.2016.7885292
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spelling my.ump.umpir.150842017-11-16T01:38:10Z http://umpir.ump.edu.my/id/eprint/15084/ Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision Nurnajmin Qasrina, Ann Achmad, M. S. Hendriyawan Bayuaji, Luhur Mohd Razali, Daud Pebrianti, Dwi TK Electrical engineering. Electronics Nuclear engineering In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of world points (point cloud). From the information of the point cloud, the interested object is segmented out. Additionally, the noises left in the image is eliminated. The experimental result obtained shows that only the background and the interested object from the overall scene appeared in the processed image. The center of gravity is also determined as the reference value for the robot navigation. An estimation error model is also introduced in this study to increase the accuracy of the distance measurement by using the developed stereo vision system from the mobile robot. This experiment provides a foundation for navigation and object tracking for a mobile robot. IEEE 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf Nurnajmin Qasrina, Ann and Achmad, M. S. Hendriyawan and Bayuaji, Luhur and Mohd Razali, Daud and Pebrianti, Dwi (2016) Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2016), 22 October 2016 , Shah Alam, Malaysia. pp. 72-77.. ISBN 978-1-5090-4186-2 https://doi.org/10.1109/I2CACIS.2016.7885292
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Nurnajmin Qasrina, Ann
Achmad, M. S. Hendriyawan
Bayuaji, Luhur
Mohd Razali, Daud
Pebrianti, Dwi
Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
description In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of world points (point cloud). From the information of the point cloud, the interested object is segmented out. Additionally, the noises left in the image is eliminated. The experimental result obtained shows that only the background and the interested object from the overall scene appeared in the processed image. The center of gravity is also determined as the reference value for the robot navigation. An estimation error model is also introduced in this study to increase the accuracy of the distance measurement by using the developed stereo vision system from the mobile robot. This experiment provides a foundation for navigation and object tracking for a mobile robot.
format Conference or Workshop Item
author Nurnajmin Qasrina, Ann
Achmad, M. S. Hendriyawan
Bayuaji, Luhur
Mohd Razali, Daud
Pebrianti, Dwi
author_facet Nurnajmin Qasrina, Ann
Achmad, M. S. Hendriyawan
Bayuaji, Luhur
Mohd Razali, Daud
Pebrianti, Dwi
author_sort Nurnajmin Qasrina, Ann
title Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_short Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_full Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_fullStr Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_full_unstemmed Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_sort study on 3d scene reconstruction in robot navigation using stereo vision
publisher IEEE
publishDate 2016
url http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf
http://umpir.ump.edu.my/id/eprint/15084/
https://doi.org/10.1109/I2CACIS.2016.7885292
_version_ 1643667583230017536
score 13.211869

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