Robust probabilistic occupancy grid estimation from positive and negative distance fields

Xiaoyan Hu, Philippos Mordohai

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We present an approach for estimating occupancy grids with an emphasis on robotics applications, where collision avoidance and robustness to severe noise are of more importance than high resolution. We build upon probabilistic techniques, typically used in robotics, and techniques based on signed distance fields, typically used in computer vision, to obtain an approach that is robust and also allows probabilistic reasoning on free and occupied space. The uniqueness of our method lies in the use of separate accumulators for positive and negative evidence for the occupancy of each voxel. This enables our representation to capture the uncertainty due to potential conflicts among the measurements instead of allowing contradictory evidence to cancel each other out. We show occupancy grids computed from multi-view stereo inputs on precisely and imprecisely calibrated image sequences. The ground truth that is available with the former dataset allows quantitative evaluation of the performance of our algorithm.

Original languageEnglish
Title of host publicationProceedings - 2nd Joint 3DIM/3DPVT Conference
Subtitle of host publication3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012
Pages539-546
Number of pages8
DOIs
StatePublished - 2012
Event2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012 - Zurich, Switzerland
Duration: 13 Oct 201215 Oct 2012

Publication series

NameProceedings - 2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012

Conference

Conference2nd Joint 3DIM/3DPVT Conference: 3D Imaging, Modeling, Processing, Visualization and Transmission, 3DIMPVT 2012
Country/TerritorySwitzerland
CityZurich
Period13/10/1215/10/12

Keywords

  • 3D reconstruction
  • occupancy grids
  • stereo vision

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