caa a22 4500 469035978 CHVBK 20180323132756.0 cr unu---uuuuu 170328e19921001xx s 000 0 eng 10.1007/BF00163582 doi (NATIONALLICENCE)springer-10.1007/BF00163582 Dynamic integration of height maps into a 3D world representation from range image sequences [Elektronische Daten] [Minoru Asada, Masahiro Kimura, Yasuhiro Taniguchi, Yoshiaki Shirai] Integration of 21/2D sketches obtained at different observation stations into a consistent world (or object) representation is one of the central issues in computer vision and robotics. The resolution and accuracy of 21/2D sketches may be different from one view point to another, and inconsistent data between different observations may occur. This article presents an approach to building a spatiotemporal representation of dynamic scenes including moving objects from a sequence of range images taken by a moving observer. A range image is transformed into a height-map representation, which is segmented into the ground plane and objects on it. In order to capture the resolution and accuracy of the range information and the consistency of the height information between different height maps, we define a reliability measure of the height information for each bucket on the height map. Using this reliability, the system finds the correspondences of both static and moving objects between different observations, and successively refines the height information and its reliability with newly acquired data, dealing with inconsistent data. Final representation of the integrated height map consists of the time stamp of the last observation, region labels of static and moving objects and their spatiotemporal properties such as height information, its reliability, and the velocities of both the observer and independently moving objects. We applied the method to road scenes physically simulated by landscape toy models and show the experimental results. Kluwer Academic Publishers, 1992 Asada Minoru Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut Kimura Masahiro Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut Taniguchi Yasuhiro Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut Shirai Yoshiaki Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut International Journal of Computer Vision Kluwer Academic Publishers 9/1(1992-10-01), 31-53 0920-5691 9:1<31 1992 9 11263 https://doi.org/10.1007/BF00163582 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00163582 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Asada Minoru Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut NATIONALLICENCE 700 1- Kimura Masahiro Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut NATIONALLICENCE 700 1- Taniguchi Yasuhiro Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut NATIONALLICENCE 700 1- Shirai Yoshiaki Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 565, Suita, Osaka, Japan aut NATIONALLICENCE 773 0- International Journal of Computer Vision Kluwer Academic Publishers 9/1(1992-10-01), 31-53 0920-5691 9:1<31 1992 9 11263 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer