Integration of an image hardware/software system into an autonomous robot
| dc.contributor.advisor | Kanayama, Yutaka | |
| dc.contributor.author | Kisor, John Carl. | |
| dc.contributor.department | Computer Science | |
| dc.date | March 1995 | |
| dc.date.accessioned | 2013-04-29T22:51:35Z | |
| dc.date.available | 2013-04-29T22:51:35Z | |
| dc.date.issued | 1995-03 | |
| dc.description.abstract | The major problem addressed by this research is how to integrate an image understanding subsystem into an autonomous mobile robot so that the robot will be self-contained and independent of any Unix workstation for extracting image information. The resulting image understanding subsystem should be a part of the total intelligent autonomous robot and should provide functionality that will allow the robot to determine its position and that of obstacles in a partially known environment. The image understanding subsystem should be fully integrated with existing motion control and sonar software. The approach taken was to develop software to capture images that uses a VME bus to interface with a standard image manager. The software was written to provide a clean interface between the image grabber hardware and the robots existing Model-based Mobile Robot Language. By maintaining functionality similar to that provided in previous image understanding software, the changes needed to incorporate previous research software is kept to a minimum. The result is a autonomous robot that can capture images using a standard image manager, display those images and then convert them to a format needed by existing image understanding software to extract information for position determination or avoid obstacles. The image understanding software uses only the computing power it has available on-board the robot. This gives the robot the capability to extract image information about its environment and remain autonomous and self- contained. | en_US |
| dc.description.funder | NA | en_US |
| dc.description.recognition | NA | en_US |
| dc.description.service | U.S. Navy (U.S.N.) author. | en_US |
| dc.description.uri | http://archive.org/details/integrationofnim1094531576 | |
| dc.format.extent | 67 p. | en_US |
| dc.identifier.uri | https://hdl.handle.net/10945/31576 | |
| dc.language.iso | en_US | |
| dc.publisher | Monterey, California. Naval Postgraduate School | en_US |
| dc.rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States. | en_US |
| dc.title | Integration of an image hardware/software system into an autonomous robot | en_US |
| dc.type | Thesis | en_US |
| dspace.entity.type | Publication | |
| etd.thesisdegree.discipline | Computer Science | en_US |
| etd.thesisdegree.grantor | Naval Postgraduate School | en_US |
| etd.thesisdegree.level | Masters | en_US |
| etd.thesisdegree.name | M.S. in Computer Science | en_US |