Using vanishing points for purposive adjustment of viewing direction (CROSBI ID 477561)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Šegvić, Siniša
engleski
Using vanishing points for purposive adjustment of viewing direction
An autonomous robot with a single visual sensor is considered in a man-made environment with trihedral rectangular structure, in which one horizontal dimension is considerably larger than others (e.g. a long corridor). A property of such an environment is that both quantity and quality of navigationally useful information that can be acquired by a visual sensor depend strongly on the viewing direction. As shown by experiments, they are greatest when the viewing direction is parallel to the longitudinal corridor axis and quickly recede as it rotates toward latitudinal corridor axis. A method is proposed for determining the robot orientation in world coordinates based on principles of projective geometry and a priori knowledge about the environment. Results of preliminary experimentation under realistic conditions are shown and discussed.
Machine vision; robot vision systems; image edge analysis; image line pattern analysis; orthogonal trihedral structure; projective geometry; vanishing points
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
199-204-x.
1999.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the IEEE International Symposium on Industrial Electronics
Giuseppe Buja, Karel Jezernik, Robert Begun
Institute of Electrical and Electronics Engineers (IEEE)
Podaci o skupu
IEEE International Symposium on Industrial Electronics
predavanje
12.06.1999-16.06.1999
Bled, Slovenija