Finding of 3D structure by an active-vision-based mobile robot
Finding of 3D structure by an active-vision-based mobile robot
复制标题
基于主动视觉的移动机器人寻找 3D 结构
DOI：
10.1109/robot.1992.219964
复制
发表时间：
1992
期刊：
影响因子：
--
通讯作者：
S. Tsuji
中科院分区：
文献类型：
--
作者：
Shigang Li;I. Miyawaki;K. Ishiguro;S. Tsuji
作者已经开发了一种方法，应用主动视觉范例的视觉引导的移动的机器人获取三维结构的人造环境。机器人自行规划一条圆形路径，通过视觉反馈沿规划的圆形路径沿着移动，根据场景中水平线的消失点计算摄像机的旋转，并估计环境的3D结构。实验结果表明，该方法对真实的环境中的干扰具有较强的鲁棒性。<<ETX>>
The authors have developed a method for applying the active vision paradigm for a vision-guided mobile robot to acquire 3D structure of a man-made environment. The robot plans a circular path by itself, moves along the planned circular path by the visual feedback, computes the camera rotation from the vanishing points of horizontal lines in the scene, and estimates the 3D structure of the environment. Experimental results showed that this method was robust to the disturbances in real environments.<<ETX>>