Real-time 3D reconstruction for mobile robot using catadioptric cameras

Romain Rossi, Xavier Savatier, Jean-Yves Ertaud, Belahcene Mazari
Research Institute for Embedded Systems (IRSEEM), Technopole du Madrillet – Av. Galilee – BP10024, 76801 Saint Etienne du Rouvray Cedex – France
IEEE International Workshop on Robotic and Sensors Environments, 2009. ROSE 2009


   title={Real-time 3D reconstruction for mobile robot using catadioptric cameras},

   author={Rossi, R. and Savatier, X. and Ertaud, J.Y. and Mazari, B.},

   booktitle={Robotic and Sensors Environments, 2009. ROSE 2009. IEEE International Workshop on},





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This paper presents a 3-second 3D reconstruction algorithm able to process a dense geometric approximation of the surrounding environment. Image acquisition is done by a stereoscopic panoramic system with two color catadioptric cameras mounted on a mobile robot. An algorithm running on a Graphical Processing Unit (GPU) processes the 3D reconstruction in real-time. As the camera system moves, new views of the scene are used to improve the model of the scene thanks to an incremental algorithm. Then, the performance of our approach is evaluated using a synthetic image sequence.
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