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Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/30528
Title: Qualitative vision for the guidance of legged robots in unstructured environments
Authors: Martínez Marroquín, Elisa; Torras, Carme
Keywords: Image sequences
Egomotion recovery
3d reconstruction
Uncalibrated camera
Unstructured environment
Contour tracking
Visual robot navigation
Issue Date: 2001
Publisher: Elsevier
Citation: Pattern Recognition 34(8): 1585-1599 (2001)
Abstract: Visual procedures especially tailored to the constraints and requirements of a legged robot are presented. They work for an uncalibrated camera, with pan and zoom, freely moving towards a stationary target in an unstructured environment that may contain independently moving objects. The goal is to dynamically analyse the image sequence in order to extract information about the robot motion, the target position and the environment structure. The development is based on the deformations of an active contour fitted to the target. Experimental results confirm that the proposed approach constitutes a promising alternative to the prevailing trend based on the costly computation of displacement or velocity fields.
Publisher version (URL): http://dx.doi.org/10.1016/S0031-3203(00)00093-5
URI: http://hdl.handle.net/10261/30528
DOI: 10.1016/S0031-3203(00)00093-5
ISSN: 0031-3203
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