This project is focussed on the recovery of environmental shape or
layout using shadow information from a moving light source. The approach
allows a mobile robot holding a camera to remain at a fixed location
in the environment while a second robot carries a light source. The
shadows allow for the recovery of the shape of both directly visible
parts of the scene as
well as portions that are hidden from the direct view of the camera.
This approach has pragmatic advantages in terms of robust and efficient
G. Dudek, M. Langer (NEC), S. W. Zucker
Pair of robots used for recovering environmental free space including hidden surfaces from shadow images. One robots holds a camera and observes the second, which carries a light source.