Significant line segments for an indoor mobile robot

Journal Article · Wed Dec 01 00:00:00 EST 1993 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.265923· OSTI ID:5040198

Lebegue, X; Aggarwal, J K ^[1]

---

1. Univ. of Texas, Austin, TX (United States). Dept. of Electrical and Computer Engineering

New algorithms for detecting and interpreting linear features of a real scene as imaged by a single camera on a mobile robot are described. The low-level processing stages are specifically designed to increase the usefulness and the quality of the extracted features for indoor scene understanding. In order to derive 3-D information from a 2-D image, the authors consider only lines with particular orientations in 3-D. The detection and interpretation processes provide a 3-D orientation hypothesis for each 2-D segment. This in turn is used to estimate the robot's orientation and relative position in the environment. Next, the orientation data is used by a motion stereo algorithm to fully estimate the 3-D structure when a sequence of images becomes available. From detection to 3-D estimation, a strong emphasis is placed on real-world applications and very fast processing with conventional hardware. Results of experimentation with a mobile robot under realistic conditions are given and discussed.

• OSTI ID: 5040198
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 9:6; ISSN 1042-296X
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
IMAGE PROCESSING
ALGORITHMS
ROBOTS
NAVIGATION
COMPUTER CALCULATIONS
DATA ANALYSIS
MATHEMATICAL LOGIC
PROCESSING
420200* - Engineering- Facilities
Equipment
& Techniques