Multispectral Stereoscopic Robotic Head Calibration and Evaluation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26620%2F15%3APU117569" target="_blank" >RIV/00216305:26620/15:PU117569 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook" target="_blank" >http://www.springer.com/us/book/9783319223827?wt_mc=ThirdParty.SpringerLink.3.EPR653.About_eBook</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-22383-4" target="_blank" >10.1007/978-3-319-22383-4</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

Popis výsledku v původním jazyce

The aim of the paper is to describe the data-fusion from optical sensors for mobile robotics reconnaissance and mapping. Data are acquired by stereo pair of CCD cameras, stereo pair of thermal imagers, and TOF (time-of-flight) range camera. The described calibration and data-fusion algorithms may be used for two purposes: visual telepresence (remote control) under extremely wide variety of visual conditions, like fog, smoke, darkness, etc., and for multispectral autonomous digital mapping of the robot’s environment. The fusion is realized by means of spatial data from a TOF camera - the thermal and CCD camera data are comprised in one multispectral 3D model for mapping purposes or stereo image presented to a binocular, head-mounted display. The data acquisition is performed using a sensor head containing the mentioned 5 cameras, which is placed on 3 degrees-of-freedom (DOF) manipulator on Orpheus-X3 reconnaissance robot; both the head and the robot were developed by our working group.

Název v anglickém jazyce

Multispectral Stereoscopic Robotic Head Calibration and Evaluation

Popis výsledku anglicky

The aim of the paper is to describe the data-fusion from optical sensors for mobile robotics reconnaissance and mapping. Data are acquired by stereo pair of CCD cameras, stereo pair of thermal imagers, and TOF (time-of-flight) range camera. The described calibration and data-fusion algorithms may be used for two purposes: visual telepresence (remote control) under extremely wide variety of visual conditions, like fog, smoke, darkness, etc., and for multispectral autonomous digital mapping of the robot’s environment. The fusion is realized by means of spatial data from a TOF camera - the thermal and CCD camera data are comprised in one multispectral 3D model for mapping purposes or stereo image presented to a binocular, head-mounted display. The data acquisition is performed using a sensor head containing the mentioned 5 cameras, which is placed on 3 degrees-of-freedom (DOF) manipulator on Orpheus-X3 reconnaissance robot; both the head and the robot were developed by our working group.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/ED1.1.00%2F02.0068" target="_blank" >ED1.1.00/02.0068: CEITEC - central european institute of technology</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2015

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Modelling and Simulation for Autonomous Systems

ISBN

978-3-319-22382-7

ISSN

—

e-ISSN

—

Počet stran výsledku

248

Strana od-do

173-184

Název nakladatele

Springer International Publishing

Místo vydání

Switzerland

Místo konání akce

Prague

Datum konání akce

29. 4. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000365044100013