Real-time intuitive terrain modeling by mapping video images onto a texture database

Wei Song, Seongjae Cho, Kyungeun Cho, Kyhyun Um, Chee Sun Won, Sungdae Sim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Mobile robot operators must make rapid decisions based on information about the robot's surrounding environment. Thus, it is essential that they receive information regarding the local terrain in real time. This paper describes an intuitive terrain modeling method and a generation algorithm for a texture database (TDB). Firstly, we integrate the large-scale 3D point clouds obtained from sensors into a node-based terrain mesh in CPU. Subsequently, we program a graphics processing unit to generate the TDB by mapping the triangles in the terrain mesh onto the captured video images.

Original languageEnglish
Title of host publicationFuture Information Technology, FutureTech 2013
PublisherSpringer Verlag
Pages7-12
Number of pages6
ISBN (Print)9783642408601
DOIs
StatePublished - 2014
Event8th FTRA International Conference on Future Information Technology, FutureTech 2013 - Gwangju, Korea, Republic of
Duration: 4 Sep 20136 Sep 2013

Publication series

NameLecture Notes in Electrical Engineering
Volume276 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference8th FTRA International Conference on Future Information Technology, FutureTech 2013
Country/TerritoryKorea, Republic of
CityGwangju
Period4/09/136/09/13

Keywords

  • GPU
  • Mobile robot
  • Terrain reconstruction
  • Texture database

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