TY  - JOUR
T1  - A 3D Mapping of the Surrounding Object using Stereo-Vision Technique
AU - Shah, Hairol Nizam Mohd AU - Sulaiman, Marizan AU - Rashid, Mohd Zamzuri AB AU - Kamis, Zalina AU - Ali, Nursabillilah Mohd AU - Aras, Mohd Shahrieel Mohd AU - Wasbari, Faizil AU - Omar, Zakarya 
JO  - International Journal of Soft Computing
VL  - 12
IS  - 1
SP  - 59
EP  - 65
PY  - 2017
DA  - 2001/08/19
SN  - 1816-9503
DO  - ijscomp.2017.59.65
UR  - https://makhillpublications.co/view-article.php?doi=ijscomp.2017.59.65
KW  - Image processing
KW  -3D map reconstruction
KW  -feature extraction
KW  -stereo camera
KW  -building
AB  - In this study, a 3D mapping of the surrounding object using stereo-vision technique is proposed.
A stereo-vision system is constructed and a navigation algorithm is developed to extract 3D features of objects
in the surrounding. Those 3D features are back projected onto a mesh grid to reconstruct the 3D module of that
object. Building 3D maps and autonomous localization is a fundamental characteristic of an autonomous
operating robot in unknown environment. In addition, rescue activities in hazardous places require robots with
such capabilities. In the past, building 3D maps were based on the use of laser, sonar sensor or a combination
of a single camera with either laser or sonar sensor. Stereo vision system is the technique used to construct the
3D modules. Two cameras are mounted horizontally on the top of the robot and are directed to scan the forward
path of the robot. 3D maps containing the location of objects in the surrounding provide the robot with a proper
guidance necessary for its navigation. Those maps will enhance the vision-based robot’s ability to navigate
and localize themselves autonomously in the future.
ER  -