Application of Super-Resolution Algorithms for the Navigation of Autonomous Mobile Robots
Application of Super-Resolution Algorithms for the Navigation of Autonomous Mobile Robots
复制标题
超分辨率算法在自主移动机器人导航中的应用
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
P. Lech
中科院分区：
文献类型：
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作者：
K. Okarma;Mateusz Teclaw;P. Lech
本文讨论了将超分辨率算法用于自主式移动的机器人的自定位和视觉导航的思想。由于这样的任务通常受到所安装的视频摄像机的有限分辨率以及可用计算资源的限制，因此用于移动的机器人（类似于许多小型飞行机器人（无人机））的基于视频的导航的典型方法是使用配备有平均级别镜头的低分辨率摄像机。这种视频系统所捕获的图像应进一步处理，以提取有用的数据，实时控制机器人的运动。在一些简化的系统中，这种导航，特别是在封闭的环境（内部）中，基于边缘和角点检测以及二进制图像分析，这对于低分辨率图像可能是麻烦的。
In the paper the idea of using the super-resolution algorithms for the self-localization and vision based navigation of autonomous mobile robots is discussed. Since such task is often limited both by the limited resolution of the mounted video camera as well as the available computational resources, a typical approach for video based navigation of mobile robots, similarly as many small flying robots (drones), is using low resolution cameras equipped with average class lenses. The images captured by such video system should be further processed in order to extract the data useful for real-time control of robot’s motion. In some simplified systems such navigation, especially in the within an enclosed environment (interior), is based on the edge and corner detection and binary image analysis, which could be troublesome for low resolution images.