Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision

In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of wor...

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Main Authors:	Nurnajmin Qasrina, Ann, Achmad, M. S. Hendriyawan, Bayuaji, Luhur, Mohd Razali, Daud, Pebrianti, Dwi
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2016
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/15084/ http://umpir.ump.edu.my/id/eprint/15084/ http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf

id	ump-15084
recordtype	eprints
spelling	ump-150842017-11-16T01:38:10Z http://umpir.ump.edu.my/id/eprint/15084/ Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision Nurnajmin Qasrina, Ann Achmad, M. S. Hendriyawan Bayuaji, Luhur Mohd Razali, Daud Pebrianti, Dwi TK Electrical engineering. Electronics Nuclear engineering In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of world points (point cloud). From the information of the point cloud, the interested object is segmented out. Additionally, the noises left in the image is eliminated. The experimental result obtained shows that only the background and the interested object from the overall scene appeared in the processed image. The center of gravity is also determined as the reference value for the robot navigation. An estimation error model is also introduced in this study to increase the accuracy of the distance measurement by using the developed stereo vision system from the mobile robot. This experiment provides a foundation for navigation and object tracking for a mobile robot. IEEE 2016 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf Nurnajmin Qasrina, Ann and Achmad, M. S. Hendriyawan and Bayuaji, Luhur and Mohd Razali, Daud and Pebrianti, Dwi (2016) Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision. In: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2016), 22 October 2016 , Shah Alam, Malaysia. pp. 72-77.. ISBN 978-1-5090-4186-2 https://doi.org/10.1109/I2CACIS.2016.7885292
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nurnajmin Qasrina, Ann Achmad, M. S. Hendriyawan Bayuaji, Luhur Mohd Razali, Daud Pebrianti, Dwi Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
description	In this paper, a 3D scene reconstruction by using stereo vision is presented. Stereo camera parameters from the camera calibration process and disparity map are two important parameters to obtain an accurate result for the 3D reconstruction. 3D reconstruction process generates the coordinates of world points (point cloud). From the information of the point cloud, the interested object is segmented out. Additionally, the noises left in the image is eliminated. The experimental result obtained shows that only the background and the interested object from the overall scene appeared in the processed image. The center of gravity is also determined as the reference value for the robot navigation. An estimation error model is also introduced in this study to increase the accuracy of the distance measurement by using the developed stereo vision system from the mobile robot. This experiment provides a foundation for navigation and object tracking for a mobile robot.
format	Conference or Workshop Item
author	Nurnajmin Qasrina, Ann Achmad, M. S. Hendriyawan Bayuaji, Luhur Mohd Razali, Daud Pebrianti, Dwi
author_facet	Nurnajmin Qasrina, Ann Achmad, M. S. Hendriyawan Bayuaji, Luhur Mohd Razali, Daud Pebrianti, Dwi
author_sort	Nurnajmin Qasrina, Ann
title	Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_short	Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_full	Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_fullStr	Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_full_unstemmed	Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision
title_sort	study on 3d scene reconstruction in robot navigation using stereo vision
publisher	IEEE
publishDate	2016
url	http://umpir.ump.edu.my/id/eprint/15084/ http://umpir.ump.edu.my/id/eprint/15084/ http://umpir.ump.edu.my/id/eprint/15084/1/fkee-2016-nurnajmin-Study%20on%203D%20Scene%20Reconstruction%20in%20Robot.pdf
first_indexed	2023-09-18T22:19:23Z
last_indexed	2023-09-18T22:19:23Z
_version_	1777415554584281088

Study on 3D Scene Reconstruction in Robot Navigation using Stereo Vision

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