Real-Time Map Building from a Stereo Camera under Unconstrained 3 D Motion

Abstract

In this paper, a method is proposed for building occupancy grid based maps from sequences of stereo images in real time. The stereo camera can move and rotate unconstrained in three dimensions. This distinguishes the method from all other mapping approaches, which constrain the sensor to move in two dimensions. This freedom of motion allows to perform… (More)

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