Robot Vision: Video-based Indoor Exploration with Autonomous and Mobile Robots
The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly.
A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.
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2 Image Processing
4 Vision Systems
6 Stereo Vision
7 Camera Calibration
8 Selflearning Algorithms
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algorithm angle application approach areas autonomous B-rep belong binary image binormal CAD model calculated camera calibration camera coordinate system color space Computer Vision computer-vision contour convolution coordinate system XC desktop determined digits distance domain doorplate edge detection equations essential matrix example executed Figure formula function fundamental matrix Gabor filter gray values height highpass filter ICADO model image data Image Processing indoor exploration input intersection interval match method a1 mobile robot Monte Carlo localization necessary neuron node octree parameterized parameters path planning pixels polygon position possible procedure projection matrix recognition probability rectangle redundant program reference quantity region representation represents result room number rotation RV program scene point segmentation selected sensor shows snapshot Sobel step stereo vision strategy structuring element surface normal table legs three-dimensional reconstruction threshold operator tion transformation space two-dimensional vector visual cortex width wooden cube world coordinates