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Vision estimation of 3-D line segments from motion-a mobile robot vision system

机译:运动机器人对3D线段的视觉估计-移动机器人视觉系统

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The role of vision for the task of robot mobility is discussed. An efficient technique is presented for detecting, tracking, and locating three-dimensional line segments. The utility of this technique has been demonstrated by the SRI mobile robot, which uses it to locate features in an office environment in real time (3-Hz frame rate). A formulation of structure-from-motion using line segments is described. The formulation uses longitudinal as well as transverse information about the endpoints of image line segments. Although two images suffice to form an estimate of a world line segment, more images are used to obtain a better estimate. The system operates in a sequential fashion, using prediction-based feature detection to eliminate the need for global image processing.
机译:讨论了视觉在机器人移动性任务中的作用。提出了一种用于检测,跟踪和定位三维线段的有效技术。 SRI移动机器人已经证明了该技术的实用性,该机器人使用该技术实时(3 Hz帧频)在办公室环境中定位功能。描述了使用线段的从运动构造的公式。该公式使用有关图像线段端点的纵向和横向信息。尽管两个图像足以构成一个世界线段的估计,但可以使用更多图像以获得更好的估计。该系统采用基于预测的特征检测以消除对全局图像处理的需要,以一种连续的方式运行。

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