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Monocular Vision as a Range Sensor

Taylor, Trevor, Geva, Shlomo, & Boles, Wageeh W. (2004) Monocular Vision as a Range Sensor. In Mohammadian, Masoud (Ed.) International Conference on Computational Intelligence for Modelling, Control & Automation (CIMCA), 12-14 July, 2004, Gold Coast, Australia.

Abstract

One of the most important abilities for a mobile robot is detecting obstacles in order to avoid collisions. Building a map of these obstacles is the next logical step. Most robots to date have used sensors such as passive or active infrared, sonar or laser range finders to locate obstacles in their path. In contrast, this work uses a single colour camera as the only sensor, and consequently the robot must obtain range information from the camera images. We propose simple methods for determining the range to the nearest obstacle in any direction in the robot’s field of view, referred to as the Radial Obstacle Profile. The ROP can then be used to determine the amount of rotation between two successive images, which is important for constructing a 360º view of the surrounding environment as part of map construction.

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1,435 since deposited on 26 Aug 2004
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ID Code: 395
Item Type: Conference Paper
Additional Information: Published on CD-ROM.
Keywords: Computer Vision, Range Sensor, Radial Obstacle Profile
ISBN: 1740881885
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Computer Vision (080104)
Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Copyright Owner: Copyright 2004 (please consult author)
Deposited On: 26 Aug 2004
Last Modified: 29 Feb 2012 23:05

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