Real-time 3D reconstruction for mobile robot using catadioptric cameras

Romain Rossi (1, 2) , Xavier Savatier (2) , Jean-Yves Ertaud (2) , Bélhacène Mazari (2)

1 Pôle Instrumentation, Informatique et Systèmes
2 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués

This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence

Mots clés: voxel; 3D reconstruction; catadioptric camera; GPU; CUDA; computer vision

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Robotique [cs.RO]

Romain Rossi, Xavier Savatier, Jean-Yves Ertaud, Bélhacène Mazari. Real-time 3D reconstruction for mobile robot using catadioptric cameras. 2009 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2009), Nov 2009, Lecco, Italy. ⟨10.1109/ROSE.2009.5355981⟩. ⟨hal-01762188⟩