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：构建未知地形地图的方法对于多种应用至关重要。针对人类无法进入的区域，需提出一种识别环境的方法。若获得环境地图，勘探、灾害救援、运输等众多场景将更加便捷。采用立体相机模拟人类视觉系统是最优方案之一。本研究将激光测距技术与立体相机融合，提取物体尺寸以用于地图构建。通过相机数学模型校正畸变，采用半全局块匹配算法[1]生成视差图，并利用新型膨胀处理降噪方法减少视差噪声。结合激光测距仪（LRF）数据与降噪后的视觉数据，识别物体参数。