Modelling, Visibility Testing and Projection of an Orthogonal Three Dimensional World in Support of a Single Camera Vision System.

摘要

Proper interpretation of the environment is essential for mission planning and navigation of an autonomous mobile robot. An on board vision system may provide the most useful raw data. This work develops part of a vision system for the Naval Postgraduate School's mobile robot, Yamabico-11. Accurately modeling the robot's environment is imperative to support position verification and path planning. The decision to use an extended two dimensional model, an orthogonal wire-frame representation, is discussed. Additionally, to support pattern matching, a package of graphic routines, utilizing traditional algorithms and an innovative sweep algorithm (to determine line segment visibility), has been developed. This work demonstrates that an asymmetric model is appropriate to represent a three dimensional environment in support of vision interpretation for mobile robots.