Design of a Terrain Mapping System for Low-cost Exploration Robots based on Stereo Vision

Zuniga W.P.C.; Navarro J.J.Q.; Diaz J.D.P.; Talavera J.S.; Montoya A.A. · Przeglad Elektrotechniczny (2023) · DOI: 10.15199/48.2023.05.46

Resumen

This paper proposes a low-cost system for terrestrial mapping and exploration of inaccessible or subterranean environments by using stereo vision with two cameras, image processing and a developed algorithm based on disparity maps that reconstructs a 3D map of the explored environment. The tests were performed on a robot with two stereo vision cameras mounted on a turret with 360° freedom of movement. The tests showed that this proposed system allows to visualize the depth of the objects around the robot and builds a 360° scenario of the explored place.

Instituciones: Universidad Nacional de San Agustín de Arequipa