IEICE TRANSACTIONS on Information
Building a 3-D World Representation for Dynamic Scenes from Range Image Sequences
Summary :
Integration of 2・1/2D sketches obtained at different observing stations into a consistent world (or object) representation is one of the central issues in computer vision and robotics. The resolution and accuracy of 2・1/2D sketches may be different from one view point to another, and inconsistent data between different observations may occur. This paper presents one approach to building a 3-D world representation from range image sequences for road scenes including moving objects. First, a range image is transformed into a height map representing the height information from the ground plane on which the observer is assumed to lie, then it is segmented into the ground plane and objects on it. In order to capture the resolution and accuracy of the range data and to reprsent the consistency of the height information between different height maps, we define a reliability of the height information for each grid on the height map. Using the reliability, the system finds the correspondences of both static and moving objects between different observations, and successively refines the height information and its reliability with newly acquired data, dealing with inconsistent data. We show the results applied to road scenes which are physically simulated by landscape toy models using a range finder based on the structured light.
- Publication
- IEICE TRANSACTIONS on Information Vol.E74-D No.10 pp.3433-3443
- Publication Date
- 1991/10/25
- Publicized
- Online ISSN
- DOI
- Type of Manuscript
- Special Section PAPER (Special Issue on Computer Vision and Its Applications)
- Category
Authors
Keyword
Latest Issue
Copyrights notice of machine-translated contents
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Cite this
Copy
Minoru ASADA, Masahiro KIMURA, Yoshiaki SHIRAI, "Building a 3-D World Representation for Dynamic Scenes from Range Image Sequences" in IEICE TRANSACTIONS on Information,
vol. E74-D, no. 10, pp. 3433-3443, October 1991, doi: .
Abstract: Integration of 2・1/2D sketches obtained at different observing stations into a consistent world (or object) representation is one of the central issues in computer vision and robotics. The resolution and accuracy of 2・1/2D sketches may be different from one view point to another, and inconsistent data between different observations may occur. This paper presents one approach to building a 3-D world representation from range image sequences for road scenes including moving objects. First, a range image is transformed into a height map representing the height information from the ground plane on which the observer is assumed to lie, then it is segmented into the ground plane and objects on it. In order to capture the resolution and accuracy of the range data and to reprsent the consistency of the height information between different height maps, we define a reliability of the height information for each grid on the height map. Using the reliability, the system finds the correspondences of both static and moving objects between different observations, and successively refines the height information and its reliability with newly acquired data, dealing with inconsistent data. We show the results applied to road scenes which are physically simulated by landscape toy models using a range finder based on the structured light.
URL: https://global.ieice.org/en_transactions/information/10.1587/e74-d_10_3433/_p
Copy
@ARTICLE{e74-d_10_3433,
author={Minoru ASADA, Masahiro KIMURA, Yoshiaki SHIRAI, },
journal={IEICE TRANSACTIONS on Information},
title={Building a 3-D World Representation for Dynamic Scenes from Range Image Sequences},
year={1991},
volume={E74-D},
number={10},
pages={3433-3443},
abstract={Integration of 2・1/2D sketches obtained at different observing stations into a consistent world (or object) representation is one of the central issues in computer vision and robotics. The resolution and accuracy of 2・1/2D sketches may be different from one view point to another, and inconsistent data between different observations may occur. This paper presents one approach to building a 3-D world representation from range image sequences for road scenes including moving objects. First, a range image is transformed into a height map representing the height information from the ground plane on which the observer is assumed to lie, then it is segmented into the ground plane and objects on it. In order to capture the resolution and accuracy of the range data and to reprsent the consistency of the height information between different height maps, we define a reliability of the height information for each grid on the height map. Using the reliability, the system finds the correspondences of both static and moving objects between different observations, and successively refines the height information and its reliability with newly acquired data, dealing with inconsistent data. We show the results applied to road scenes which are physically simulated by landscape toy models using a range finder based on the structured light.},
keywords={},
doi={},
ISSN={},
month={October},}
Copy
TY - JOUR
TI - Building a 3-D World Representation for Dynamic Scenes from Range Image Sequences
T2 - IEICE TRANSACTIONS on Information
SP - 3433
EP - 3443
AU - Minoru ASADA
AU - Masahiro KIMURA
AU - Yoshiaki SHIRAI
PY - 1991
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E74-D
IS - 10
JA - IEICE TRANSACTIONS on Information
Y1 - October 1991
AB - Integration of 2・1/2D sketches obtained at different observing stations into a consistent world (or object) representation is one of the central issues in computer vision and robotics. The resolution and accuracy of 2・1/2D sketches may be different from one view point to another, and inconsistent data between different observations may occur. This paper presents one approach to building a 3-D world representation from range image sequences for road scenes including moving objects. First, a range image is transformed into a height map representing the height information from the ground plane on which the observer is assumed to lie, then it is segmented into the ground plane and objects on it. In order to capture the resolution and accuracy of the range data and to reprsent the consistency of the height information between different height maps, we define a reliability of the height information for each grid on the height map. Using the reliability, the system finds the correspondences of both static and moving objects between different observations, and successively refines the height information and its reliability with newly acquired data, dealing with inconsistent data. We show the results applied to road scenes which are physically simulated by landscape toy models using a range finder based on the structured light.
ER -
English
