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dc.contributor.advisorKanayama, Yukata
dc.contributor.authorRemias, Leonard V.
dc.dateMarch 1996
dc.date.accessioned2012-08-09T19:23:17Z
dc.date.available2012-08-09T19:23:17Z
dc.date.issued1996-03
dc.identifier.urihttp://hdl.handle.net/10945/8887
dc.descriptionApproved for public release, distribution is unlimiteden_US
dc.description.abstractYamabico-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.en_US
dc.description.urihttp://archive.org/details/realtimeimageund00remi
dc.format.extentx, 129 p.: ill.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.subject.lcshAlgorithmsen_US
dc.titleA real-time image understanding system for an autonomous mobile roboten_US
dc.typeThesisen_US
dc.contributor.secondreaderLee, Chin-Hwa
dc.contributor.corporateNaval Postgraduate School
dc.contributor.departmentDepartment of Computer Science
dc.subject.authorRoboticsen_US
dc.subject.authorComputer visionen_US
dc.subject.authorEdge extractionen_US
dc.subject.authorObstacle avoidanceen_US
dc.subject.authorImage understandingen_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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