Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception
To give mobile robots real autonomy, and to permit them to act efficiently in a diverse, cluttered, and changing environment, they must be equipped with powerful tools for perception and reasoning. Artificial Vision for Mobile Robots presents new theoretical and practical tools useful for providing mobile robots with artificial vision in three dimensions, including passive binocular and trinocular stereo vision, local and global 3D map reconstructions, fusion of local 3D maps into a global 3D map, 3D navigation, control of uncertainty, and strategies of perception. Numerous examples from research carried out at INRIA with the Esprit Depth and Motion Analysis project are presented in a clear and concise manner.
Contents. General Introduction. Stereo Vision. Introduction. Calibration. Image Representation. Binocular Stereo Vision Constraints. Binocular Stereo Vision Algorithms. Experiments in Binocular Stereo Vision. Trinocular Stereo Vision, Outlook. Multisensory Perception. Introduction. A Unified Formalism. Geometric Representation. Construction of Visual Maps. Combining Visual Maps. Results: Matching and Motion. Results: Matching and Fusion. Outlook.
What people are saying - Write a review
We haven't found any reviews in the usual places.
Binocular Stereo Vision Constraints
Binocular Stereo Vision Algorithms
Experiments in Binocular Stereo Vision
Trinocular Stereo Vision
A Unified Formalism
Construction of Visual Maps
Combining Visual Maps
Matching and Motion
Matching and Fusion
Other editions - View all
3D lines 3D points 3D segments affine lines allowable disparities artificial intelligence associated atlas axis Ayache bijection binocular stereo vision bucket calibration camera chapter charts Computer Vision connected components contour chains contour points contour segments coordinate system covariance matrix criterion defined direction vector disparity gradient displacement estimate distance Endprocedure environment epipolar lines epipole Euler angles example extended Kalman filter Faugeras Figure fusing fusion Gaussian geometric primitives geometric relation given homologous hypothesis image planes image points image segments initial estimate INRIA intersection interval of allowable iteration line segments linear luminance intensity measurement equations mobile robot motion multiple neighborhood graph noise noisy objects obtained open set optical centers optimal orientation orthogonal pair parallel parameters polygonal approximation position prediction problem procedure projection propagation quaternions reconstructed 3D rectification recursive regions representation respectively stereo images stereo vision algorithm threshold tion transformation trinocular triplet uniqueness constraint visual features visual maps