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1、VisuallyRealisticMappingofaPlanarEnvironmentwithStereoLucaIocchiUniversityofRomeLaSapienzaRome,Italyiocchi@dis.uniroma1.itKurtKonoligeSRIInternationalMenloPark,CAUSAkonolige@ai.sri.comMaxBajracharyaMassachusettsInstituteofTechnologyCambridge,MAUSAmaxb@mit.eduAbstract:Wepresentahybridtec
2、hniqueforconstructinggeometricallyac-curate,visuallyrealisticplanarenvironmentsfromstereovisioninforma-tion.Thetechniqueisuniqueinestimatingcameramotionfromtwosources:rangeinformationfromstereo,andvisualalignmentofimages.1.MappingandMobileRobotsRecenttechniquesinmappingusingsingle-plane
3、laserrangefindersonmo-bilerobotshaveprovenverysuccessfulinindoorenvironments[1,2,3,4,5].Thesetechniquesmatchrangescanstobuildupafloormodel,orplanview.Theymakenoassumptionsaboutthegeometryoftheenvironment,andtakeadvantageofthedirectrangemeasurementsinreconstruction.Imagealignmenttechniqu
4、es,ontheotherhand,attempttosimultaneouslydeterminecameramotionand3Dgeometryfromasequenceofimages.Theydeterminerangeonlyindirectly,asabyproductofdeterminingcameramotionandmatchingimages;thereisaverylargeliteratureonthissubject[6,7,8].Bothtechniqueshavedisadvantages.Rangetechniquesarelimi
5、tedintheiraccuracybytherangemeasurements,whichformobilerobotsaretypicallymuchlessprecisethanrequiredforconstructingavisuallyaccuratemodel.Further,full3Drangesensorsareexpensive,power-hungry,andslow,andhaveyettobedeployedonmobilerobots.Ontheotherhand,imagealign-ment,whileitcanyieldvisual
6、lypreciseresults,suffersfromseveralproblemsinafull3Dsetting:highcomputationalload,difficultyinmatching,andam-biguityindeterminingcameramotion.Itiswell-knownthattheseproblemsareaccentuatedwhendealingwithjusttwoviewsofanobject,ratherthanasequenceofimages[9].Inourwork,wecombinetechniquesfr
7、omrangemappingandimagealign-menttoreconstructvisually-realistic,metricallyprecisemapsfromamobilerobot,usingjustastereosensortoproviderangeandimagedata.Wearein-terestedintwotasks:1.Reconstructingtheplanargeometryoftheindoorenvironment,forrobotnavigation.Theaccuracyofthisreconstr
