Adaptive vision system/3D map reconstruction

本研究的目的是设计并开发一个集轨迹、位置估计与控制于一体的自由测距户外导航系统。自由测距导航系统不受约束以遵循特定的预定义路径，因此适合于户外或动态环境。这项工作将结合联合收割机的读数，包括视觉，全球定位系统，航位推算，测距仪开发一个混合导航平台。这项研究将通过使用场景的光学、物理、几何和统计信息生成场景对象或特征的数学和计算模型来进行。然后通过合并特定传感器的读数来更新这些模型。更新每个模型时应包括哪些传感器读数的决定将自动做出。这一决定将根据模型属性、周围环境信息、时间、天气和照明条件做出。所提出的方法可以提高智能导航机器的可靠性，提高其精度和鲁棒性，并减少（或限制）长期的位置漂移。自由测距导航系统具有广泛的应用范围，从诸如用于矿山和港口的运输系统的工业到诸如动物园引导机器人的娱乐。

The objective of this research is to design and develop a free ranging outdoor navigation system that incorporates trajectory, position estimation and control. The free ranging navigation systems are not bounded to follow specific predefined paths, therefore, suitable for outdoor or dynamic environments. This work will combine the readings of several sensors including vision, GPS, dead reckoning, and rangefinder to develop a hybrid navigation platform. This research will be performed by generating mathematical and computational models of scene objects or features using optical, physical, geometrical, and statistical information of the scene. These models are then updated by incorporating particular sensors' readings. The decision of what sensors' readings should be included in updating each model will be made automatically. This decision will be made according to the model properties, surrounding environmental information, time, and weather and lighting conditions. The suggested approach can improve the reliability of intelligent navigation machines by enhancing their accuracy and robustness, and reducing (or bounding) the long-term positional drift. Free ranging navigation systems have a wide range of applications from industrial such as transporting systems for mines and harbors, to entertainment such as zoo guiding robots.