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This paper proposed a vision system that enables the wheel-robot could self-localization and navigation, and a strategy simulator software for robot soccer competition. The vision system is based on an omnidirectional camera to develop real-time image capture, doors and ball recognition software. It is a framework for visual self-localization of a mobile robot using a parametric model obtained from...
This paper presents geometric techniques for self-localization improvement, especially for the robots equipped with a single catadioptric camera. We take the vertical line and intersection point matching into account, and proposed a novel descriptor named “Double-Gaussian vector”. The vector uses two Gaussian matrices to blur the process image region and build the corresponding feature vectors for...
This paper presents a visual surveillance system for mobile robots using omnidirectional and PTZ cameras. By combining the advantages of these two types of cameras, it provides not only the surveillance of the surrounding area of the robot, but also observe every corner of the indoor environment. Furthermore, the system is mounted on a mobile robot platform, which is able to move around the environment...
In this paper, we propose a self-localization and path-planning method for mobile robot navigation. An omnidirectional camera and infrared sensors are used to extract the landmarks information of the environment. Due to the large field of view of the omnidirectional camera, the mobile robot can capture the rich information of the environment. The landmark features are detected and extracted from the...
In this paper we present a general framework for the hybrid omnidirectional and perspective imaging system. Based on the hybrid imaging geometry, a generalized stereo approach is developed via the construction of virtual cameras. It is then used to rectify the hybrid image pair using the perspective projection model. The proposed method not only simplifies the computation of epipolar geometry for...
Active camouflage is a technique for occluding objects disappear from the observer. Current implementations make assumptions on the viewpoints of both the observer and the camouflaged target. In this work, we present a framework of view-dependent planar scene camouflage. The cameras representing the observer and the occluding object are placed in general positions. The images captured by the object...
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