Stereo-Vision Based 3D Modeling and Localization for Unmanned Vehicles
Safety and operational demands require that operators
of unmanned security and defense vehicles be located at safe
distances. The capability of creating photo-realistic 3D models using
on-board sensors on unmanned vehicles will improve the operatorsí
Instant Scene Modeler (iSM) is a vision system for generating
calibrated photo-realistic 3D models of unknown environments
quickly using stereo image sequences.
Equipped with iSM, unmanned military vehicles can capture
stereo images and create 3D models to be sent back to the base station,
while they explore unknown environments. Rapid access to 3D
models will increase the operator situational awareness and allow
better mission planning and execution, as the models can be
visualized from different views and used for relative measurements.
Moreover, iSM also recovers the camera motion, also known as
the visual odometry. As wheel odometry error grows over time, this
can help improve the wheel odometry for better localization.
Apart from unmanned vehicles, iSM has also been used in
forensics and mining applications, for creating 3D models of crime
scenes and of the mine tunnels respectively.