基于实时视觉的室内自主移动机器人导航与三维深度估计

Annual Review in Automatic Programming Pub Date : 1994-01-01 DOI:10.1016/0066-4138(94)90069-8

F Vázquez, E Paz, R Marín

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引用次数: 3

摘要

提出了一种基于Transputer的人工视觉系统，该系统可以估计移动机器人的绝对位置(导航)、运动参数(自我运动)和视野深度图。通过跟踪环境的基本3D CAD信息中存在的预期特征来实现导航。自运动和相对深度是利用场景中具有高时空梯度的点的闭合轮廓计算的光流来估计的，不需要先验知识。

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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Real-time vision-based navigation and 3D depth estimation for an indoor autonomous mobile robot

A Transputer based artificial vision system that allows estimating a mobile robot's absolute position (navigation), it's motion parameters (egomotion) and a depth map of the sight of view is presented. Navigation is achieved by tracking expected features present in basic 3D CAD information of the environment. Egomotion and relative depth are estimated using optic flow calculated on closed contours of points in the scene presenting high spatio-temporal gradients and require no a-priori knowledge.

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