Summary: Digital Object Identifier (DOI) 10.1007/s00138-003-0133-2
Machine Vision and Applications (2003) 15: 92­100 Machine Vision and
Applications
Fusion of laser and visual data for robot motion planning and collision avoidance
Haris Baltzakis1,2
, Antonis Argyros1
, Panos Trahanias1,2
1
Institute of Computer Science, Foundation for Research and Technology ­ Hellas (FORTH), P.O. Box 1385, Heraklion, 71110 Crete, Greece
2
Department of Computer Science, University of Crete, P.O.Box 1470, Heraklion, 714 09 Crete, Greece
Received: 10 May 2002 / Accepted: 18 December 2002
Published online: 7 October 2003 ­ c Springer-Verlag 2003
Abstract. In this paper, a method for inferring scene structure
information based on both laser and visual data is proposed.
Common laser scanners employed in contemporary robotic
systems provide accurate range measurements, but only in 2D
slices of the environment. On the other hand, vision is capable
of providing dense 3D information of the environment. The
proposed fusion scheme combines the accuracy of laser sen-

Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete
Baltzakis, Haris - Institute of Computer Science, Foundation of Research and Technology, Hellas
Trahanias, Panos - Institute of Computer Science, Foundation of Research and Technology, Hellas
Zhu, Zhigang - Department of Computer Science, City College, City University of New York

Collections: Computer Technologies and Information Sciences