Development of a visual object localization module for mobilerobots

机译：开发用于移动机器人的视觉对象定位模块

获取原文

获取原文并翻译 | 示例

页面导航

摘要
著录项
相似文献
相关主题

摘要

Reports preliminary results from the design and implementation ofna visual object localization module for mobile robots. The module takesnan object-based approach to visual processing and relies on anpreprocessing step that segments objects from the image. By tracking thensize and the eccentricity of the objects in the image while the robot isnmoving, the visual object localization module can determine the positionnof objects relative to the robot using the displacement obtained fromnits odometry. In localizing the objects, the module is designed toncombine the results of two different techniques. The visual loomingntechnique measures the distance to an object using the change in thensize of the object on the image plane. This technique is to bencomplemented by a variant of the triangulation technique that can locatenan object using the eccentricity of the object when viewed from twondifferent points. The module-with the preprocessing algorithm-is beingnimplemented to run in real-time on a mobile robot. Evaluation of thenvisual localization module is being done in an integrated systemnintroduced in the article. The integrated system creates an environmentnfor real-time evaluation of the module as well as other mapping andnnavigation algorithms for mobile robots

机译：报告了用于移动机器人的视觉对象定位模块的设计和实现的初步结果。该模块采用基于对象的方法进行视觉处理，并依赖于从图像中分割对象的预处理步骤。通过跟踪机器人移动时图像中对象的大小和偏心率，可视对象定位模块可以使用从测距仪获得的位移来确定对象相对于机器人的位置。在对对象进行定位时，将模块设计为结合两种不同技术的结果。视觉显示技术使用图像平面上对象大小的变化来测量到对象的距离。这项技术将由三角测量技术的一种变体来补充，该变体可以从两个不同点查看时使用对象的偏心度来定位对象。具有预处理算法的模块已实现为在移动机器人上实时运行。视觉本地化模块的评估是在本文介绍的集成系统中完成的。集成系统为实时评估模块以及移动机器人的其他映射和导航算法创造了一个环境

著录项

来源
《Third annual symposium on logic in computer science》|1988年|p.65-72|共8页
会议地点 Edinburgh(GB);Edinburgh(GB);Edinburgh(GB)
作者
Sahin E.; Gaudiano P.;
展开▼
作者单位

Neurobotics Lab., Boston Univ., MA;

展开▼
会议组织
原文格式 PDF
正文语种 eng
中图分类计算技术、计算机技术;
关键词

相似文献

外文文献
中文文献
专利

1. Distinct and distributed functional connectivity patterns across cortex reflect the domain-specific constraints of object, face, scene, body, and tool category-selective modules in the ventral visual pathway [J] . R. Matthew Hutchison, Jody C. Culham, Stefan Everting, NeuroImage . 2014,第Null期

机译：皮质上不同的分布式功能连接模式反映了腹侧视觉通路中对象，面部，场景，身体和工具类别选择模块的特定领域约束
2. Knowledge Graph for the Visualisation of CRM Objects in a Social Network of Business Objects (SoNBO): Development of the SoNBO Visualiser [J] . Simon Meier, Berit Gebel-Sauer, Petra Schubert Procedia Computer Science . 2021,第1期

机译：企业对象社交网络中CRM对象可视化的知识图：Sonbo Dessioniser的开发
3. Development of Intermodule Interactions in Field 18 in Kittens Reared in Different Visual Environments: Orientation Modules [J] . N. S. Merkul’eva, V. S. Bugrova, I. V. Bondar’ Neuroscience and behavioral physiology . 2018,第2期

机译：在不同视觉环境中饲养的小猫中的Intermodule交互的发展：方向模块
4. Development of a visual object localization module for mobile robots [C] . Sahin, E., Gaudiano, . 1999

机译：开发用于移动机器人的视觉对象定位模块
5. Autonomous docking and parking control of center-articulated mobile robot modules using visual localization. [D] . Delrobaei, Mehdi. 2010

机译：使用视觉本地化的中央铰接式移动机器人模块的自动对接和停车控制。
6. Dissection of Functional Modules of AT-HOOK MOTIF NUCLEAR LOCALIZED PROTEIN 4 in the Development of the Root Xylem [O] . Minji Seo, Ji-Young Lee 2021

机译：在Xylem的开发中解剖钩壳核核局部蛋白4功能模块
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

Development of a visual object localization module for mobilerobots

摘要

著录项

相似文献

相关主题

期刊订阅