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Finding traversable paths using computer vision is one of the most important components of an intelligent mobile robot system. For a wall climbing robot that operates in an urban environment, it is essential to automatically detect surface types and orientations for switching between moving and climbing, and for applying different adhesive forces both to save energy and ensure its own safety. This...
This paper presents a framework to analyze a large amount of video data and extract high-level structural information - planar structures and motion information - in typical urban scenes, which may be used in video coding or object recognition. The method consists of two phases. In the first phase, multiple parallel-perspective (pushbroom) mosaics are generated from the video data. In the second phase,...
In this paper, a unified, segmentation-based approach is proposed to deal with both stereo reconstruction and moving objects detection problems using multiple stereo mosaics. Each set of parallel-perspective (pushbroom) stereo mosaics is generated from a video sequence captured by a single video camera. First a color-segmentation approach is used to extract the so-called natural matching primitives...
We propose a content-based 3D mosaic representation for long video sequences of 3D and dynamic scenes captured by a camera on a mobile platform. The motion of the camera has a dominant direction of motion (as on an airplane or ground vehicle), but 6 degrees-of-freedom (DOF) motion is allowed. In the first step, a pair of generalized parallel-perspective (pushbroom) stereo mosaics is generated that...
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