Abstract
The impressive advances in robotic spatial reasoning over the past decade have relied primarily on rich sensory data provided by laser range finders. Relative to cameras, however, lasers are heavy, bulky, power-hungry, and expensive. This work proposes and evaluates an image-segmentation pipeline that produces range scans from ordinary webcameras. Starting with a nearest-neighbor classification of image patches, we investigate the tradeoffs in accuracy, resolution, calibration, and speed that come from estimating range-to-obstacles using only single images. Experiments atop the low-cost iRobot Create platform demonstrate the accessibility and power of this pixel-based alternative to laser scans.
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Lesperance, N., Leece, M., Matsumoto, S., Korbel, M., Lei, K., Dodds, Z. (2010). PixelLaser: Computing Range from Monocular Texture. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2010. Lecture Notes in Computer Science, vol 6455. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17277-9_16
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DOI: https://doi.org/10.1007/978-3-642-17277-9_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-17276-2
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