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Stereo vision systems in a Robotic navigation environment determine the depth in the form of a depth map image from two or more images which are taken at the same time, but from slightly different viewpoints. Ground suppression from depth map is essential for object reconstruction in 3D environment as the ground surface is considered as traveling medium than as an object. Ground separated depth map...
Although robot navigation in indoor environments has achieved great success, robots are unable to fully navigate these spaces without the ability to operate elevators, including those which the robot has not seen before. In this paper, we focus on the key challenge of autonomous interaction with an unknown elevator button panel. A number of factors, such as lack of useful 3D features, variety of elevator...
Image ground segmentation is an important task in the area of computer vision for the robot navigation because the ground region is often taken as the traversable terrain. In this paper, we propose a learning-based method for image ground segmentation which applies the Adaboost learning method to combine multiple cues for detection of the ground region in an image. Firstly, an image is segmented into...
The concept of probabilistic occupancy maps was introduced by the end of the 1980s. Over the years, research has focused on the definition of the representation, the data fusion, and the generation of such occupancy models. However, few considerations have been given to processing occupancy maps as textured images to extract meaningful information that is required for robot navigation. This paper...
This paper proposes a method segments the object from an image taken by moving robot in outdoor environment. We show the method of segmentation based on low-level features using multiple cues. Multiple local cues are color, straight line, edge, context information. hue co-occurrence matrix (HCM), principal components (PCs) and vanishing point (VP). Model the objects of outdoor environment that define...
Recently, various service robot systems are introduced and offer the guidance and delivery service. However, most of them are operated on a single floor, because they do not consider the elevator environment. In this paper, we present the navigation strategy for multi-floor environment including elevator situation. Firstly, we propose the recognition method of the button and the floor number so that...
Consistent image mosaicking is a potentially useful tool for robot navigation and map construction. This paper presents an automatic algorithm to generate consistent image mosaicking. During the robot processing, local optimization based on the related previous images is used for every newly added image on the baseline approach view. As soon as a loop is detected, a global optimization method is activated...
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