Seeing Empty Space in an Unknown Environment without Silhouettes

  • A. Eppendahl
  • A. Ojamaa
Conference paper


We show that a map of empty space around objects near a mobile camera in an unknown environment can be obtained from a naive light field model of image data. We observe that, between the nearest objects, cells with different light in different directions correspond to empty space. We describe experiments with a robot in an environment with black objects and white objects seen against a black and white background. As there are no absolute silhouettes in this environment, ordinary silhouette methods cannot be used. We demonstrate that the robot is able, in real-time, to find and pass through a gap in a row of objects or stop if no gap is wide enough.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • A. Eppendahl
    • 1
  • A. Ojamaa
    • 2
  1. 1.Institute of CyberneticsTallinnEstonia
  2. 2.Tallinin University of TechnologyTallinnEstonia

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