Journal ArticleDOI
Using Real-Time Stereo Vision for Mobile Robot Navigation
Don Murray,James J. Little +1 more
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TLDR
A method for reducing stereo vision disparity images to two-dimensional map information is presented to reduce errors by segmenting disparity images based on continuous disparity surfaces to reject “spikes” caused by stereo mismatches.Citations
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Proceedings ArticleDOI
Vision-based mobile robot localization and mapping using scale-invariant features
TL;DR: A vision-based mobile robot localization and mapping algorithm is described which uses scale-invariant image features as landmarks in unmodified dynamic environments which are localized and robot ego-motion is estimated by matching them, taking into account the feature viewpoint variation.
Journal ArticleDOI
3D skeleton-based human action classification
TL;DR: This survey highlights motivations and challenges of this very recent research area by presenting technologies and approaches for 3D skeleton-based action classification, and introduces a categorization of the most recent works according to the adopted feature representation.
Journal ArticleDOI
Review of stereo vision algorithms: From software to hardware
TL;DR: An explicit analysis of the existing stereo matching methods, up to date, is presented and the presented algorithms are discussed in terms of speed, accuracy, coverage, time consumption, and disparity range.
Journal ArticleDOI
FPGA Design and Implementation of a Real-Time Stereo Vision System
Seunghun Jin,Jung Uk Cho,Xuan Dai Pham,Kyoung Mu Lee,Sung-Kee Park,Munsang Kim,Jae Wook Jeon +6 more
TL;DR: A fully pipelined stereo vision system providing a dense disparity image with additional sub-pixel accuracy in real-time in a single field programmable gate array (FPGA) without the necessity of any external devices is proposed.
Journal ArticleDOI
A comparison of path planning strategies for autonomous exploration and mapping of unknown environments
TL;DR: An extensive study of the most important methods for autonomous exploration and mapping of unknown environments is presented and a representative subset of these techniques has been chosen to be analysed.
References
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Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Journal ArticleDOI
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: In this paper, a two-stage technique for 3D camera calibration using TV cameras and lenses is described, aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters.
Book
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: A new technique for three-dimensional camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses using two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art.