Multidimensional evidence grids and system and methods for...

Details Multidimensional evidence grids and system and methods for... Multidimensional evidence grids and system and methods for...

2006-02-08

2008-11-04

Nguyen, Kimbinh T (Department: 2628)

Computer graphics processing and selective visual display system

Computer graphics processing

Three-dimension

C345S419000, C345S427000, C345S629000, C352S057000, C701S211000

Reexamination Certificate

active

07446766

ABSTRACT:
A method of generating an evidence grid representing an environment comprises the steps of collecting a set of stereo images at multiple locations within the environment using stereo sensors, and processing the set of stereo images to determine occupancy and distance data associated with each point in space represented in the set of stereo images; applying a sensor model to each point in space to determine a probability of occupancy of each voxel representing each point in space; and generating an evidence grid of the environment by combining the probabilities for each voxel.

REFERENCES:
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patent: 2004/0013295 (2004-01-01), Sabe et al.
Moravec “Robots, After All”, ACM, published Oct. 2003; pp. 90-97.
Heuer, Von Steffan, “Herr und Knecht”, Technology Review, Dec. 2003.
Murray, Don, and Little, James J., “Using Real-Time Stereo Vision for Mobile Robot Navigation”, Autonomous Robots, vol. 8, Apr. 2000, (pp. 161-171).
Moravec, Hans P., Robot Spatial Perception by Stereoscopic Vision and 3D Evidence Grids, CMU-RI-TR-96-34, Sep. 1996 (pp. 1-42).
Martin, Martin C. and Moravec, Hans P., “Robot Evidence Grids”, CMU-RI-TR-96-06, Mar. 1996, (pp. 1-48).

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