A real-time image understanding system for an autonomous mobile robot

Loading...
Thumbnail Image
Authors
Remias, Leonard V.
Subjects
Robotics
Computer vision
Edge extraction
Obstacle avoidance
Image understanding
Advisors
Kanayama, Yukata
Date of Issue
1996-03
Date
March 1996
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Yamabico-11 is an autonomous mobile robot used as a research platform with one area in image understanding. Previous work focused on edge detection analysis on a Silicon Graphics Iris (SGI) workstation with no method for implementation on the robot. Yamabico-11 does not have an on-board image processing capability to detect straight edges in a grayscale image and a method for allowing the user to analyze the data. The approach taken for system development is partly based on edge extraction and line fitting algorithms of (PET92) with a 3-D geometric model of the robot's world (STE92). Image grabbing routines of (KIS95) were used to capture images with the robot's digital output camera and processed using image understanding routines developed for a SGI workstation. The routines were modified and ported onto the robot. The new method of edge extraction produces less ambient noise and more continuous vertical line segments in the gradient image which enhances pattern matching analysis of the image. Yamabico-11's computer system can capture an image with a resolution of 739 x 484 active picture elements. Edge detection analysis is performed on the robot which generates a list structure of edges and stored in the robot's memory for user analysis.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
x, 129 p.: ill.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.
Collections