Image processing on an omni-directional view using a sphericalhexagonal pyramid: vanishing points extraction and hexagonal chaincoding

摘要

The authors have proposed a new data structure for anomni-directional view. That is a spherical hexagonal pyramid which haspyramid- and tree-type structures. Such structures manipulatehierarchical and multi-resolution representations of data and it seemsuseful for mobile robots and manipulators in an assembling task. Becausethese robots and manipulators have to observe various directions and toutilize image processing for achieving their purposes. This paperdescribes two methods for observing environment and objects with the aimof confirming of efficiency of this data structure. One is to extractgreat circles and vanishing points. The information is used forestimating some coordinate systems in an artificial world. And the otheris to recognize objects by use of hexagonal chain codes