Active stereo vision : depth perception for navigation, environmental map formation and object recognition

Download

index.pdf

Date

2003

Author

Ulusoy, İlkay

Metadata

Show full item record

Item Usage Stats

169
views

0
downloads

In very few mobile robotic applications stereo vision based navigation and mapping is used because dealing with stereo images is very hard and very time consuming. Despite all the problems, stereo vision still becomes one of the most important resources of knowing the world for a mobile robot because imaging provides much more information than most other sensors. Real robotic applications are very complicated because besides the problems of finding how the robot should behave to complete the task at hand, the problems faced while controlling the robot̕s internal parameters bring high computational load. Thus, finding the strategy to be followed in a simulated world and then applying this on real robot for real applications is preferable. In this study, we describe an algorithm for object recognition and cognitive map formation using stereo image data in a 3D virtual world where 3D objects and a robot with active stereo imaging system are simulated. Stereo imaging system is simulated so that the actual human visual system properties are parameterized. Only the stereo images obtained from this world are supplied to the virtual robot. By applying our disparity algorithm, depth map for the current stereo view is extracted. Using the depth information for the current view, a cognitive map of the environment is updated gradually while the virtual agent is exploring the environment. The agent explores its environment in an intelligent way using the current view and environmental map information obtained up to date. Also, during exploration if a new object is observed, the robot turns around it, obtains stereo images from different directions and extracts the model of the object in 3D. Using the available set of possible objects, it recognizes the object.

Subject Keywords

Computer software

URI

http://etd.lib.metu.edu.tr/upload/12604737/index.pdf
https://hdl.handle.net/11511/14105

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Improving interactive classification of satellite image content Tekkaya, Gökhan; Atalay, Mehmet Volkan; Department of Computer Engineering (2007) Interactive classication is an attractive alternative and complementary for automatic classication of satellite image content, since the subject is visual and there are not yet powerful computational features corresponding to the sought visual features. In this study, we improve our previous attempt by building a more stable software system with better capabilities for interactive classication of the content of satellite images. The system allows user to indicate a few number of image regions that contain a...
Fuzzy spatial data cube construction and its use in association rule mining Işık, Narin; Yazıcı, Adnan; Department of Computer Engineering (2005) The popularity of spatial databases increases since the amount of the spatial data that need to be handled has increased by the use of digital maps, images from satellites, video cameras, medical equipment, sensor networks, etc. Spatial data are difficult to examine and extract interesting knowledge; hence, applications that assist decision-making about spatial data like weather forecasting, traffic supervision, mobile communication, etc. have been introduced. In this thesis, more natural and precise knowle...
3D face reconstruction using stereo vision Dikmen, Mehmet; Halıcı, Uğur; Department of Electrical and Electronics Engineering (2006) 3D face modeling is currently a popular area in Computer Graphics and Computer Vision. Many techniques have been introduced for this purpose, such as using one or more cameras, 3D scanners, and many other systems of sophisticated hardware with related software. But the main goal is to find a good balance between visual reality and the cost of the system. In this thesis, reconstruction of a 3D human face from a pair of stereo cameras is studied. Unlike many other systems, facial feature points are obtained a...
3-D Rigid Body Tracking Using Vision and Depth Sensors Gedik, O. Serdar; Alatan, Abdullah Aydın (Institute of Electrical and Electronics Engineers (IEEE), 2013-10-01) In robotics and augmented reality applications, model-based 3-D tracking of rigid objects is generally required. With the help of accurate pose estimates, it is required to increase reliability and decrease jitter in total. Among many solutions of pose estimation in the literature, pure vision-based 3-D trackers require either manual initializations or offline training stages. On the other hand, trackers relying on pure depth sensors are not suitable for AR applications. An automated 3-D tracking algorithm,...
Mobility and power aware data interest based data replication for mobile ad hoc networks Arslan, Seçil; Bozyiğit, Müslim; Department of Computer Engineering (2007) One of the challenging issues for mobile ad hoc network (MANET) applications is data replication. Unreliable wireless communication, mobility of network participators and limited resource capacities of mobile devices make conventional replication techniques useless for MANETs. Frequent network divisions and unexpected disconnections should be handled. In this thesis work, a novel mobility and power aware, data interest based data replication strategy is presented. Main objective is to improve data accessibi...

Citation Formats

İ. Ulusoy, “Active stereo vision : depth perception for navigation, environmental map formation and object recognition,” Ph.D. - Doctoral Program, Middle East Technical University, 2003.