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ROBOT OF ESTIMATING DIRECTION BASED ON VANISHING POINT OF LOW LUMINANCE IMAGE AND METHOD ESTIMATING THEREOF
ROBOT OF ESTIMATING DIRECTION BASED ON VANISHING POINT OF LOW LUMINANCE IMAGE AND METHOD ESTIMATING THEREOF
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机译:基于低亮度图像消失点的方向估计机器人及其方法估计
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摘要
The present invention relates to a robot and a method for estimating a direction based on a vanishing point in a low illuminance image. The robot for estimating the direction based on the vanishing point in the low illuminance image according to one embodiment of the present invention comprises: a camera part for photographing an image of one or more areas of a front or upper side of a robot; and an image processing part which calculates the vanishing point by extracting a line segment in the first image by applying a histogram smoothing and a rolling guidance filter to the first image photographed by the camera part, and estimates a global angle of the robot corresponding to the vanishing point.
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