Title :
Understanding spatial configuration of robot´s environment from stereo motion images
Author :
Yachida, Masahiko ; Tsudo, Akihiro
Author_Institution :
Dept. of Inf. & Comput. Sci., Osaka Univ., Japan
Abstract :
When a robot moves around, it obtains a large number of input images of its environment taken at different viewpoints. The mobile robot considered has binocular vision and it obtains a sequence of stereo images from the environment. This paper proposes a method to build the 3D model of the robot´s environment and to understand its spatial configuration from these input images, which is one of the central problems for the study of an intelligent mobile robot
Keywords :
artificial intelligence; computer vision; computerised pattern recognition; mobile robots; 3D model; binocular vision; mobile robot; pattern recognition; robot vision; spatial configuration understanding; stereo motion images; Cameras; Image edge detection; Image reconstruction; Image segmentation; Intelligent robots; Mobile robots; Optical sensors; Robot kinematics; Robot sensing systems; Robot vision systems;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174597
