tailieunhanh - Báo cáo hóa học: " Mobile Robot Visual Navigation Using Multiple Features Nick Pears"

Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Mobile Robot Visual Navigation Using Multiple Features Nick Pears | EURASIP Journal on Applied Signal Processing 2005 14 2250-2259 2005 Hindawi Publishing Corporation Mobile Robot Visual Navigation Using Multiple Features Nick Pears Department of Computer Science University of York YorkY010 5DD UK Email nep@ Bojian Liang Department of Computer Science University of York YorkY010 5DD UK Email bojian@ Zezhi Chen Department of Computer Science University of York YorkY010 5DD UK Email chen@ Received 22 December 2003 Revised 29 July 2004 We propose a method to segment the ground plane from a mobile robot s visual field of view and then measure the height of nonground plane features above the mobile robot s ground plane. Thus a mobile robot can determine what it can drive over what it can drive under and what it needs to manoeuvre around. In addition to obstacle avoidance this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera raw pixel coordinates only but is restricted to near pure translation motion of the camera. The main contributions are i a novel reciprocal-polar RP image rectification ii ground plane segmentation by sinusoidal model fitting in RP-space iii a novel projective construction for measuring affine height and iv an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments. Keywords and phrases plane segmentation image rectification plane and parallax obstacle detection mobile robots. 1. INTRODUCTION . Robust multifeature multicue vision systems In order to operate reliably over extended periods of time . hours days weeks rather than seconds minutes computer vision systems must use of all the information in the image stream that is pertinent to the current task. This requires that the system can make this pertinent information explicit by employing a range of feature extractors and visual cues opportunistically namely as and when they are available in .