Um framework para avaliação de mapeamento tridimensional utilizando técnicas de estereoscopia e odometria visual

• Ano de defesa: 2016
• Autor(a) principal: Santos, Cristiano Flores dos
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Santa Maria; Brasil; Ciência da Computação; UFSM; Programa de Pós-Graduação em Informática; Centro de Tecnologia
• Palavras-chave em Português: Mapeamento 3D; Estereoscopia; Odometria visual; 3D mapping; Stereoscopy; Visual odometry; CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO
• Link de acesso: http://repositorio.ufsm.br/handle/1/12038

The three-dimensional mapping environments has been intensively studied in the last decade. Among the benefits of this research topic is possible to highlight the addition of autonomy for car or even drones. The three-dimensional representation also allows viewing of a given scenario iteratively and with greater detail. However, until the time of this work was not found one framework to present in detail the implementation of algorithms to perform 3D mapping outdoor approaching a real-time processing. In view of this, in this work we developed a framework with the main stages of three-dimensional reconstruction. Therefore, stereoscopy was chosen as a technique for acquiring the depth information of the scene. In addition, this study evaluated four algorithms depth map generation, where it was possible to achieve the rate of 9 frames per second.