High dynamic range stereo vision for outdoor mobile robotics

We present a technique for high-dynamic range stereo for outdoor mobile robot applications. Stereo pairs are captured at a number of different exposures (exposure bracketing), and combined by projecting the 3D points into a common coordinate frame, and building a 3D occupancy map. We present experimental results for static scenes with constant and dynamic lighting as well as outdoor operation with variable and high contrast lighting conditions.

• Type: Journal
• Year: 2009
• Where: ICRA
• Authors: Stefan Hrabar, Peter I. Corke, Michael Bosse
• Keywords: Common Coordinate Frame, ICRA 2009, Outdoor Mobile Robot, Robotics, Stereo Pairs