| EPSRC Reference: |
GR/L34099/01 |
| Title: |
AUTONOMOUS ENVIRONMENT MODELLING AND TARGET OBJECT LOCATION USING A MOBILE ROBOT |
| Principal Investigator: |
Palmer, Dr P |
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| Department: |
Sch of Electronics & Physical Sciences |
| Organisation: |
University of Surrey |
| Scheme: |
Standard Research (Pre-FEC) |
| Starts: |
16 October 1997 |
Ends: |
15 April 2001 |
Value (£): |
343,775
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| No relevance to Underpinning Sectors |
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Summary on Grant Application Form |
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Fusion of multiple sources of sensory information is fundamental to autonomous exploration and modelling of unstructured environments. The aim of this proposal is to enable fusion of geometric information from multiple sources. Geometric fusion is required for fast and accurate 3D scene reconstruction. Current environment modelling research addresses the reconstruction from either a sequence of intensity images or a set of range images. Recent advances allow the extraction of coarse feature based geometric information from a sequence of images captured by an un-calibrated moving camera. Potentially motion based depth information provides a rapid source of depth cues for the inference of coarse scene geometry. An inherent problem with this depth from motion approach is the build up of uncertainty. Active 3D measurements provide accurate geometric information but is relatively expensive to acquire. This proposal seeks to integrate 2D and 3D information with the prime objective to enable an autonomous agent to explore its environment, generating a 3D model of the environment and locating objects from a small well defined set. The proposal seeks to bring together expertise in the areas of structure from motion, feedback control of vision systems for error reduction and 3D object modelling using range data.
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Key Findings |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Potential use in non-academic contexts |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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Impacts |
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| Description |
This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk |
| Summary |
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| Date Materialised |
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Sectors submitted by the Researcher |
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This information can now be found on Gateway to Research (GtR) http://gtr.rcuk.ac.uk
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| Project URL: |
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| Further Information: |
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| Organisation Website: |
http://www.surrey.ac.uk |