It is essential to have a method to map an unknown terrain for various applications. For places where human access is not possible, a method should be proposed to identify the environment. Exploration, disaster relief, transportation and many other purposes would be convenient if a map of the environment is available. Replicating the human vision system using stereo cameras would be an optimum solution. In this work, we have used laser ranging based technique fused with stereo cameras to extract dimension of objects for mapping. The distortions were calibrated using mathematical model of the camera. By means of Semi Global Block Matching [1] disparity map was generated and reduces the noise using novel noise reduction method of disparity map by dilation. The Data from the Laser Range Finder (LRF) and noise reduced vision data has been used to identify the object parameters.

翻译：对于人类无法进入的地方,应提出一种方法来确定环境。如果有环境地图,勘探、救灾、运输和其他许多用途将是方便的。使用立体摄像机复制人类视觉系统将是一个最佳解决办法。在这项工作中,我们使用了与立体摄像机结合的激光测距技术来提取用于绘图的物体的尺寸。这种扭曲是使用相机的数学模型校准的。通过Sef Global Block 匹配[1]差异图生成了Seble Global Block 并使用新颖的缩小噪音的方法通过比照绘制差异地图来减少噪音。激光测距仪的数据和减少噪音的视觉数据被用来确定物体参数。