Selective Refinement of 3-D Scene Description by Attentive Observation for Mobile Robot

Abstract

This paper describes a method to refine a 3-D scene description for a mobile robot selectively by attentive observation. The 3-D scene description is constructed with the constrained Delaunay triangulation and a path to a given destination is determined from the description. If the path is not found, the triangles of the Delaunay triangulation are classified into two categories: impassable and undefined. And a set of undefined triangles which is on the most promising path is observed attentively. The new data are obtained with a higher resolution. The new data, however, include the position displacement by the errors of the pan and tilt angles of the camera platform. The both images are registrated by matching segments in both images and by computing the displacement. The new data are integrated to the original description and a path is searched for in the new description. Experiments have been performed for an indoor scene which includes chair, desks, computers and so on. The results have proved that the proposed method is valid for cluttered scene.