Omnidirectional Vision for Recognition and Control

全向视觉识别与控制

• 批准号: 9310750
• 负责人: Ernest Hall
• 金额: $ 4.98万
• 依托单位: University of Cincinnati Main Campus
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1993
• 资助国家: 美国
• 起止时间: 1993-03-15 至 1994-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9310750&HistoricalAwards=false
• 关键词: Omnidirectional; Vision; Recognition; Control

This award, in the Small Grants for Exploratory Research mode, funds an investigation into the potential capabilities of an omnidirectional vision sensor to provide guidance and control information for a mobile robot. The work will explore several basic questions: (1) can scene interpretation for navigation and object recognition be carried out efficiently on "raw" omnidirectional images, or is it necessary to compensate for the distortions inherent in such images; and (2) how best to use image invariants in omnidirectional vision to minimize computation in robotic navigation. Exploratory error studies and experimental validation of the omnidirectional approach will also be carried out. Ultimately this research is expected to develop a theoretical foundation for omnidirectional vision control of a mobile robot.

这个奖项，在探索性研究模式的小额赠款， 资助一项调查， 全方位视觉传感器提供引导和控制 移动的机器人的信息。 这项工作将探讨几个 基本问题：（1）能否现场解译进行导航， 物体识别可以在“原始” 全方位的图像，或者有必要补偿 这些图像中固有的失真;以及（2）如何最好地使用图像 全向视觉中的不变量，以最小化计算， 机器人导航 探索性错误研究和实验 还将对全方位方法进行验证 出去 最终，这项研究有望发展出一种理论上的 为移动的机器人的全方位视觉控制奠定了基础。