Abstract
This manuscript presents a deterministic model to register heterogeneous 3D data arising from a ring of eight ultrasonic sonar, one high data density LiDAR (light detection and ranging), and a semi-ring of three visual sensors. The three visual sensors are arranged in a cylindrical ring, and although they provide 2D colour images, a radial multi-stereo geometric model is proposed to yield 3D data. All deployed sensors are geometrically placed on-board a wheeled mobile robot platform, and data registration is carried out navigating indoors. The sensor devices in discussion are coordinated and synchronized by a home-made distributed sensor suite system. Mathematical deterministic formulation for data registration is used to obtain experimental and numerical results on global mapping. Data registration relies on a geometric model to compute depth information from a semicircular trinocular stereo sensor that is proposed to rectify and calibrate three image frames with different orientations and positions, but with same projection point. (C) 2013 The Authors. Published by Elsevier Ltd. Selection and peer-review under responsibility of the organizing and review committee of IConDM 2013