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We spend more than 80% of our lives indoors. Future indoor robot navigation is based on intelligent systems that provide accurate and smart information. In this paper we introduce a novel Aesthetic Marker decoding system, which finds and decodes machine readable visual markers inside buildings. Focused on seamless integration of visual code into our everyday human environment, our application has...
The scene map building is the key of robot navigation. This paper proposes the principle of projection of virtual height line (PVHL) and its application in the scene map building. At first partition the scene scope uniformly into grids. Then introduce virtual height lines (VHLs) which do not exist in the scene. Each VHL is projected into left image and right image, and two projection lines are generated...
This paper presents results from experiments on visual stereo matching for robot navigation. Visual features are stereo paired with respect to their pixel position. Stereo triangulating all paired visual features results in a set of landmarks whereof a subset are true landmarks. Constraining the horizontal disparity limits the amount of spurious matches. The stereo matching is validated by finding...
In order to have an operative system with multiple robots each one with its own configuration, it is important to establish cooperative mechanisms that allow the robots with less sensory power to get helped from the robots with more sensory power. In this context, it is important that the cooperation is done in a way that allows each robot to take advantage of the particular resources of the other...
This work addresses the use of optical flow to supervise the navigation of mobile robot. The optical flow information is computed from the images sequence in order to be used in the navigation algorithm. The optical flow provides very important information about the robot environment, like: the obstacles disposition, the robot heading, the time to collision and the depth. The use of this information...
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