球面六边形金字塔全向视图图像处理:消失点提取和六边形链编码

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots Pub Date : 1995-08-05 DOI:10.1109/IROS.1995.525909

Y. Kimuro, T. Nagata

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引用次数: 11

摘要

作者提出了一种新的全向视图数据结构。这是一个六边形的球形金字塔，有金字塔和树形结构。这样的结构操作数据的分层和多分辨率表示，似乎对移动机器人和操纵器在装配任务中很有用。因为这些机器人和操纵器必须观察不同的方向，并利用图像处理来实现它们的目的。本文介绍了两种观测环境和对象的方法，以验证该数据结构的有效性。一种是提取大圆和消失点。该信息用于估计人工世界中的某些坐标系。另一种是利用六边形链码来识别物体。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Image processing on an omni-directional view using a spherical hexagonal pyramid: vanishing points extraction and hexagonal chain coding

The authors have proposed a new data structure for an omni-directional view. That is a spherical hexagonal pyramid which has pyramid- and tree-type structures. Such structures manipulate hierarchical and multi-resolution representations of data and it seems useful for mobile robots and manipulators in an assembling task. Because these robots and manipulators have to observe various directions and to utilize image processing for achieving their purposes. This paper describes two methods for observing environment and objects with the aim of confirming of efficiency of this data structure. One is to extract great circles and vanishing points. The information is used for estimating some coordinate systems in an artificial world. And the other is to recognize objects by use of hexagonal chain codes.

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来源期刊

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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