Modelling, visibility testing and projection of an orthogonal three dimensional world in support of a single camera vision system
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Authors
Stein, James Earl
Subjects
Three dimensional modelling
Visibility testing
Perspective projection
Visibility testing
Perspective projection
Advisors
Kanayama, Yutaka
Date of Issue
1992-03
Date
March 1992
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Proper interpretation of the environment is essential for mission planning and navigation of an autonomous mobile robot. An on board vision system may provide the most useful raw data. This work develops part of a vision system for the Naval Postgraduate School's mobile robot, Yamabico-II. Accurately modeling the robot's environment is imperative to support position verification and path planning. The decisions to use an extended two dimensional model, an orthogonal wire-frame representation, is discussed. Additionally, to support pattern matching, a package of graphic routines, utilizing traditional algorithms and an innovative sweep algorithm (to determine line segment visibility), has been developed. this work demonstrates that an asymmetric model is appropriate to represent a three dimensional environment in support of vision interpretation for mobile robots.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
173 p.
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.