Illumination-invariant landmark representation by color contrasts - Insect Model and Robot Application

通过颜色对比表示光照不变的地标 - 昆虫模型和机器人应用

• 批准号: 233456273
• 负责人: Professor Dr.-Ing. Ralf Möller
• 金额: --
• 依托单位: Arbeitsgruppe Technische Informatik
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2013
• 资助国家: 德国
• 起止时间: 2012-12-31 至 2015-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/233456273?language=en
• 关键词: Illumination; invariant; landmark; representation; color

Insects apply information reduction to make sensory input manageable for their tiny brains. For visual navigation it has been suggested that insects use UV-visual contrasts to reduce a complex visual scene to a simple and illumination-invariant skyline representation. The project will validate this hypothesis by constructing a camera-based sensor with UV and visual channels and demonstrating that robust skyline extraction independent of the state of the sky and of the illumination of objects is achieved. Biologically plausible visual navigation models using this reduced input representation will be developed. Both components together will be tested in outdoor environments by simulations on real-world image databases and by robot experiments. The project will, one the one hand, provide strong support for the skyline hypothesis of insect navigation, and will, on the other hand, transfer the simple biological model to robotic applications (robotic lawn mover).

昆虫应用信息减少，使其微小的大脑的感官输入易于管理。对于视觉导航，有人建议昆虫使用紫外线视觉对比度，将复杂的视觉场景简化为简单的、光照不变的天际线表示。该项目将通过构建具有紫外线和视觉通道的基于相机的传感器来验证这一假设，并证明实现了独立于天空状态和物体照明的稳健天际线提取。将开发使用该简化输入表示的生物学上可信的视觉导航模型。这两个组件将通过在真实世界图像数据库上的模拟和机器人实验在室外环境中进行测试。该项目一方面将为昆虫导航的天际线假说提供强有力的支持，另一方面将把简单的生物模型转移到机器人应用程序(机器人草坪搬运机)。

项目成果

Skyline-based localisation for aggressively manoeuvring robots using UV sensors and spherical harmonics

使用紫外线传感器和球谐函数对主动机动机器人进行基于天际线的定位

• DOI: 10.1109/icra.2016.7487780
• 发表时间: 2016
• 期刊: 2016 IEEE International Conference on Robotics and Automation (ICRA)
• 作者: Differt;Milford
• 通讯作者: Milford