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STRUCTURAL LANDMARK RECOGNITION METHOD USING VISION-BASED VANISHING POINTS OF AN AUTONOMOUS NAVIGATION ROBOT CAPABLE OF OBTAINING THE RELIABLE RECOGNITION RATE WHEN USING A CHEAP VISUAL SENSOR
STRUCTURAL LANDMARK RECOGNITION METHOD USING VISION-BASED VANISHING POINTS OF AN AUTONOMOUS NAVIGATION ROBOT CAPABLE OF OBTAINING THE RELIABLE RECOGNITION RATE WHEN USING A CHEAP VISUAL SENSOR
PURPOSE: A structural landmark recognition method using vision-based vanishing points of an autonomous navigation robot is provided to recognize the structural landmark by using a cheap visual sensor when an autonomous robot does not study a strange environment.;CONSTITUTION: A structural landmark recognition method using vision-based vanishing points of an autonomous navigation robot comprises the following steps. The second vanishing point of the straight vertical lines and the first vanishing point of parallel straight lines of a three-dimensional space facing the progressive direction of the navigation are determined from an image frame(S2). The edge facing the first second vanishing point is extracted(S3). The structural landmark is discriminated based on the change pattern of the edges according to the image frames for each vanishing point extracted from image frames(S4, S5).;COPYRIGHT KIPO 2012
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