使用快速视觉技术的拓扑学移动机器人[外文翻译].rar
使用快速视觉技术的拓扑学移动机器人[外文翻译],包含中文翻译和英文原文,内容详细完整,建议下载参考!中文: 7196 字英文: 22566 字符摘要在本文我们利用颜色直方图匹配全向图象,显示一个拓扑学移动机器人的系统。 此系统将来可用作自治车的一个航行工具,可以作为探险和航海的都市环境的移动机器人,我们的方法是利用机器人...
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内容介绍
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使用快速视觉技术的拓扑学移动机器人[外文翻译]
包含中文翻译和英文原文,内容详细完整,建议下载参考!
中文: 7196 字
英文: 22566 字符
摘要
在本文我们利用颜色直方图匹配全向图象,显示一个拓扑学移动机器人的系统。 此系统将来可用作自治车的一个航行工具,可以作为探险和航海的都市环境的移动机器人,我们的方法是利用机器人上的照相机获取全向图象。 这种方法是快速和自转不变的。我们的测试表明正常化的颜色直方图在一个室外环境是最佳,而在室内工作不需要。系统在更大的测试环境之内,迅速缩小机器人的地点到一两个地区。 利用这些地方化的信息,我们已经开发了的其它视觉系统可进一步定位机器人。
1 介绍
在复杂环境里,一个移动机器人的地点的定位是一个有趣和重要问题。机器人的地方化可以在几何上或拓扑学上完成。 在本文,我们提出运用对颜色直方图的分析拓扑学地方化的一个快速的方法,可用于帮助另一个视觉系统进行精确几何地方化。这个组合技术用于驾驶我们塑造机器人大道的自治站点 ......
Topological Mobile Robot Localization Using Fast Vision Techniques
Abstract
In this paper we present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the Autonomous Vehicle for Exploration and Navigation of Urban Environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot's on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot's location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.
1 Introduction
The determination of a mobile robot's location in a complex environment is an interesting and important problem. Localization of the robot can be done geometrically or topologically. In this paper, we present a fast method of topological localization which utilizes the analysis of color histograms. Our method can then be used to help another vision system perform precise geometrical localization. This combination of techniques is used to navigate our autonomous site modeling robot ......
包含中文翻译和英文原文,内容详细完整,建议下载参考!
中文: 7196 字
英文: 22566 字符
摘要
在本文我们利用颜色直方图匹配全向图象,显示一个拓扑学移动机器人的系统。 此系统将来可用作自治车的一个航行工具,可以作为探险和航海的都市环境的移动机器人,我们的方法是利用机器人上的照相机获取全向图象。 这种方法是快速和自转不变的。我们的测试表明正常化的颜色直方图在一个室外环境是最佳,而在室内工作不需要。系统在更大的测试环境之内,迅速缩小机器人的地点到一两个地区。 利用这些地方化的信息,我们已经开发了的其它视觉系统可进一步定位机器人。
1 介绍
在复杂环境里,一个移动机器人的地点的定位是一个有趣和重要问题。机器人的地方化可以在几何上或拓扑学上完成。 在本文,我们提出运用对颜色直方图的分析拓扑学地方化的一个快速的方法,可用于帮助另一个视觉系统进行精确几何地方化。这个组合技术用于驾驶我们塑造机器人大道的自治站点 ......
Topological Mobile Robot Localization Using Fast Vision Techniques
Abstract
In this paper we present a system for topologically localizing a mobile robot using color histogram matching of omnidirectional images. The system is intended for use as a navigational tool for the Autonomous Vehicle for Exploration and Navigation of Urban Environments (AVENUE) mobile robot. Our method makes use of omnidirectional images which are acquired from the robot's on-board camera. The method is fast and rotation invariant. Our tests have indicated that normalized color histograms are best for an outdoor environment while normalization is not required for indoor work. The system quickly narrows down the robot's location to one or two regions within the much larger test environment. Using this regional localization information, other vision systems that we have developed can further localize the robot.
1 Introduction
The determination of a mobile robot's location in a complex environment is an interesting and important problem. Localization of the robot can be done geometrically or topologically. In this paper, we present a fast method of topological localization which utilizes the analysis of color histograms. Our method can then be used to help another vision system perform precise geometrical localization. This combination of techniques is used to navigate our autonomous site modeling robot ......