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3D reconstruction is the essential part of robots' autonomous navigation. 3D reconstruction method based on hierarchical level projection of virtual height line (PVHL) is proposed. Unlike traditional method, the proposed method could reconstruct 3D scene independent with the dense disparity map. At first we partitioned the interesting scope uniformly into grid with a certain size, and introduced virtual...
3D reconstruction is a challenging work for the autonomous navigation of robots. This paper proposes a novel 3D reconstruction method based on projection of virtual height line (PVHL). At first partition the scene scope uniformly into grids with a certain size. Then introduce virtual height lines (VHLs) which do not exist in the scene. Each VHL is projected on left image and right image, and two projection...
Building an accurate three dimensional map is an important task for autonomous localisation and navigation. In a sequential approach to reconstruction from video streams, we show how adding prior knowledge about camera motion improves reconstruction accuracy, obtaining a more precise trajectory estimation and preventing failures over time. We add a smoothing penalty on camera trajectory and the smoothing...
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