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Summary: Rocecdingsofthe 1992IEEE
Intanatid Contcrcncc mRoboticsand Autanatim
Nh,Fmw-u l y 1992
Extraction and Interpretation of Semantically Significant Line
Segments for a Mobile Robot*
Xavier Lebhgue and J. K. Aggarwal
Computer and Vision Research Center,
Dept. of Electrical and Computer Engr., ENS 520,
The University of Texas at Austin,
Austin, Texas 78712-1084, U.S.A.
Abstract
This paper describes new algorithms for detecting
and interpreting linear features of a real scene as im-
aged by a single camera on a mobile robot. The low-
level processing stages are specifically designed to in-
crease the usefulness and the quality of the extracted
features for a semantic interpretation. The detection
and interpretation processes provide a 3-D orientation
hypothesis for each 2-Dsegment. This in turn is used
to estimate the robot's orientation and relative posi-
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