Title :
Structural pyramids for representing and locating moving obstacles in visual guidance of navigation
Author_Institution :
Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
Abstract :
The author presents an image pyramidal approach for representing and locating moving obstacles in the visual guidance of navigation for mobile robots or autonomous land vehicles. The algorithm is based on the utilization of a structural representation of the image in pyramids. A thresholding and mapping scheme for generating the structural pyramids is described. Obstacles are represented and located in terms of the grid cells in structural pyramids. Orthogonal projections are applied to calculate the velocity and acceleration of the moving objects and predict possible collision
Keywords :
computer vision; computerised navigation; computerised pattern recognition; robots; autonomous land vehicles; computer vision; computerised navigation; computerised pattern recognition; image pyramidal approach; mapping; mobile robots; moving obstacles location; orthogonal projection; structural pyramids; structural representation; visual guidance; Acceleration; Collision avoidance; Image resolution; Interference; Land vehicles; Layout; Mobile robots; Object detection; Remotely operated vehicles; Sonar navigation;
Conference_Titel :
Computer Vision and Pattern Recognition, 1988. Proceedings CVPR '88., Computer Society Conference on
Conference_Location :
Ann Arbor, MI
Print_ISBN :
0-8186-0862-5
DOI :
10.1109/CVPR.1988.196330
