This article shows a way of using a stereo vision system as a logical sensor to perform mobile robot navigation tasks such as obstacle avoidance. We describe our system, from which the implementation of a task describ...
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The proceedings contain 81 papers. The special focus in this conference is on computervision. The topics include: Foreword;on scale and resolution in the analysis of local image structure;a pyramidal stereovision alg...
ISBN:
(纸本)9783540525226
The proceedings contain 81 papers. The special focus in this conference is on computervision. The topics include: Foreword;on scale and resolution in the analysis of local image structure;a pyramidal stereovision algorithm based on contour chain points;parallel and deterministic algorithms from MRFs: Surface reconstruction and integration;parallel multiscale stereo matching using adaptive smoothing;on the motion of 3D curves and its relationship to optical flow;structure-from-motion under orthographic projection;parallel computation of optic flow;obstacle detection by evaluation of optical flow fields from image sequences;extending the 'oriented smoothness constraint' into the temporal domain and the estimation of derivatives of optical flow;a comparison of stochastic and deterministic solution methods in Bayesian estimation of 2-D motion;motion determination in space-time images;optimal filter for edge detection methods and results;ambiguity in reconstruction from image correspondences;an optimal solution for mobile camera calibration;analytical results on error sensitivity of motion estimation from two views;on the estimation of depth from motion using an anthropomrphic visual sensor;the derivation of qualitative information in motion analysis;road following algorithm using a panned plan-view transformation;3D-vision-based robot navigation: Firststeps;dynamic world modeling using vertical line stereo;tracking in a complex visual environment;tracking line segments;biased anisotropic diffusion-a unified regularization and diffusion approach to edge detection;measurement and integration of 3-D structures by tracking edge lines;estimation of 3D-motion and structure from tracking 2D-lines in a sequence of images;the incremental rigidity scheme for structure from motion: The line-based formulation.
Computing surface curvature would seem to be a simple application of differential geometry, but problems arise due to noise and the quantized nature of digital images. We present a method for determining principal cur...
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A new method of calibration is proposed for active visual sensing for use in 3D analysis. The method, based on an adaptation of the two camera plane m model, permits the calibration of a mobile camera as a function of...
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A distributed testbed designed to support the development of a multi-sensory (vision and tactile) system for investigations in "active perception" of three dimensional objects is presented. Active perception...
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An F-15 bulkhead is to be inspected by a computer system employing television cameras for vision and robot arms with tactile sensors for precise measurements. The system requires a suitable model of the object to be i...
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vision will be increasingly important in robotics applications. An object is modeled by critical curves extracted from the object. In the simplest case the object's curve is its outline. A solution to the curve pa...
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An important use of sensing in robot systems is to initiate or terminate motions. The conditions for these actions are based on sensor data and thus called sensory conditions. The values of the sensor input may vary w...
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A relatively low coststereoscopic vision system has been constructed here at the University of Alabama in Huntsville, using a video camera interfaced to a microcomputer. A motor driven mirror assembly attached to the...
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