Depth map generation for a reconnaissance robot via sensor fusion

A. H.A.D. Abeysekara; D. P. Liyanage; W. R.C.B.S. Welikala; G. M.R.I. Godaliyadda; M. P.B. Eakanayake; J. V. Wijayakulasooriya

doi:10.1109/ICIINFS.2015.7399031

Depth map generation for a reconnaissance robot via sensor fusion

A. H.A.D. Abeysekara, D. P. Liyanage, W. R.C.B.S. Welikala, G. M.R.I. Godaliyadda, M. P.B. Eakanayake, J. V. Wijayakulasooriya

Department of Electrical and Computer Engineering

University of Peradeniya

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented using two off the shelf web cameras. Here, Semi-Global Block Matching (SGBM) method was further developed considering multiple realizations of the same scenery to increase the accuracy of the depth estimation.

Original language	English
Title of host publication	2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings
Pages	320-325
Number of pages	6
ISBN (Electronic)	9781479918768
DOIs	https://doi.org/10.1109/ICIINFS.2015.7399031
State	Published - 3 Feb 2016
Event	10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015 - Peradeniya, Sri Lanka Duration: 17 Dec 2015 → 20 Dec 2015

Publication series

Name	2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings

Conference

Conference	10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015
Country/Territory	Sri Lanka
City	Peradeniya
Period	17/12/15 → 20/12/15

Keywords

Camera Calibration
Depth Map
Disparity
Holonomic
INS
Odometry
Semi Global Block Matching
Sensor Fusion
Stereo Vision
Stero Vision

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10.1109/ICIINFS.2015.7399031

Cite this

Abeysekara, A. H. A. D., Liyanage, D. P., Welikala, W. R. C. B. S., Godaliyadda, G. M. R. I., Eakanayake, M. P. B., & Wijayakulasooriya, J. V. (2016). Depth map generation for a reconnaissance robot via sensor fusion. In 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings (pp. 320-325). Article 7399031 (2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings). https://doi.org/10.1109/ICIINFS.2015.7399031

Abeysekara, A. H.A.D. ; Liyanage, D. P. ; Welikala, W. R.C.B.S. et al. / Depth map generation for a reconnaissance robot via sensor fusion. 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings. 2016. pp. 320-325 (2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings).

@inproceedings{fec70ba6bac64b16b9524fc9b871fcd5,

title = "Depth map generation for a reconnaissance robot via sensor fusion",

abstract = "In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented using two off the shelf web cameras. Here, Semi-Global Block Matching (SGBM) method was further developed considering multiple realizations of the same scenery to increase the accuracy of the depth estimation.",

keywords = "Camera Calibration, Depth Map, Disparity, Holonomic, INS, Odometry, Semi Global Block Matching, Sensor Fusion, Stereo Vision, Stero Vision",

author = "Abeysekara, {A. H.A.D.} and Liyanage, {D. P.} and Welikala, {W. R.C.B.S.} and Godaliyadda, {G. M.R.I.} and Eakanayake, {M. P.B.} and Wijayakulasooriya, {J. V.}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015 ; Conference date: 17-12-2015 Through 20-12-2015",

year = "2016",

month = feb,

day = "3",

doi = "10.1109/ICIINFS.2015.7399031",

language = "English",

series = "2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings",

pages = "320--325",

booktitle = "2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings",

}

Abeysekara, AHAD, Liyanage, DP, Welikala, WRCBS, Godaliyadda, GMRI, Eakanayake, MPB & Wijayakulasooriya, JV 2016, Depth map generation for a reconnaissance robot via sensor fusion. in 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings., 7399031, 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings, pp. 320-325, 10th IEEE International Conference on Industrial and Information Systems, ICIIS 2015, Peradeniya, Sri Lanka, 17/12/15. https://doi.org/10.1109/ICIINFS.2015.7399031

Depth map generation for a reconnaissance robot via sensor fusion. / Abeysekara, A. H.A.D.; Liyanage, D. P.; Welikala, W. R.C.B.S. et al.
2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings. 2016. p. 320-325 7399031 (2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Liyanage, D. P.

AU - Welikala, W. R.C.B.S.

AU - Godaliyadda, G. M.R.I.

AU - Eakanayake, M. P.B.

AU - Wijayakulasooriya, J. V.

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N2 - In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented using two off the shelf web cameras. Here, Semi-Global Block Matching (SGBM) method was further developed considering multiple realizations of the same scenery to increase the accuracy of the depth estimation.

AB - In this paper design and implementation of an accurate positioning system in indoor environments for an Omni directional Robot and a stereo vision based depth estimation system is discussed. The positioning system which is robust for wheel slip and jerky motion was implemented fusing odometry, Inertial Navigation System (INS) and magnetic compass based measurements. The vision system was implemented using two off the shelf web cameras. Here, Semi-Global Block Matching (SGBM) method was further developed considering multiple realizations of the same scenery to increase the accuracy of the depth estimation.

KW - Camera Calibration

KW - Depth Map

KW - Disparity

KW - Holonomic

KW - INS

KW - Odometry

KW - Semi Global Block Matching

KW - Sensor Fusion

KW - Stereo Vision

KW - Stero Vision

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T3 - 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings

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EP - 325

BT - 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings

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ER -

Abeysekara AHAD, Liyanage DP, Welikala WRCBS, Godaliyadda GMRI, Eakanayake MPB, Wijayakulasooriya JV. Depth map generation for a reconnaissance robot via sensor fusion. In 2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings. 2016. p. 320-325. 7399031. (2015 IEEE 10th International Conference on Industrial and Information Systems, ICIIS 2015 - Conference Proceedings). doi: 10.1109/ICIINFS.2015.7399031

Depth map generation for a reconnaissance robot via sensor fusion

Abstract

Publication series

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Keywords

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