Qualitative vision for the guidance of legged robots in unstructured environments

Pattern Recognition - Tập 34 Số 8 - Trang 1585-1599 - 2001
Elisa Martı́nez1, Carme Torras2
1Departament de Comunicacions i Teoria del Senyal, Enginyeria La Salle, Pge. Bonanova, 8, 08022 Barcelona, Spain
2Institut de Robòtica i Informàtica Industrial (CSIC-UPC). Gran Capità, 2-4, 08034 Barcelona, Spain

Tóm tắt

Từ khóa


Tài liệu tham khảo

E. Celaya, F. Porta, Control of a six-legged robot walking on abrupt terrain, Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, 1996, pp. 2731–2736.

Celaya, 1998, A control structure for the locomotion of a legged robot on difficult terrain, IEEE Robotics Automat. Mag., 5, 43, 10.1109/100.692340

S. Soatto, P. Perona, Recursive estimation of camera motion from uncalibrated image sequences, Proceedings of the First IEEE International Conference on Image Processing (ICIP), 1994, pp. II-58–62.

J.L. Crowley, P. Bobet, C. Schmidt, Maintaining stereo calibration by tracking image points, Proceedings of the Conference on Computer Vision and Pattern Recognition, 1993, pp. 483–488.

I.A. Lourakis, R. Deriche, Camera self-calibration using the singular value decomposition of the fundamental matrix: from point correspondences to 3d measurements, Technical Report, No. 3748. INRIA, Sophia Antipolis, France, 1999.

C. Zeller, O. Faugeras, Applications of non-metric vision to some visual guided tasks, Technical Report, No. 2308. INRIA, Sophia Antipolis, France, 1994.

E. Martı́nez, C. Torras, Integration of appearance and geometric methods for the analysis of monocular sequences, Proceedings of the IST/SPIE 12th Annual Symposium on Electronic Imaging, San Jose, California, January 2000, pp. 62–70.

A. Kosaka, J. Pan, Purdue experiments in model based vision for hallway navigation, Proceedings of Workshop on Vision for Robots in IROS’95 Conference, 1995, pp. 87–96.

Taylor, 1998, Vision based motion planning and exploration algorithms for mobile robots, IEEE Trans. Robotics and Automation, 14, 417, 10.1109/70.678451

Dickmanns, 1990, An integrated spatio-temporal approach to automatic visual guidance of autonomous vehicles, IEEE Trans. Systems Man Cybernet., 20, 1273, 10.1109/21.61200

Gat, 1994, Behaviour control for robotic exploration of planetary surfaces, IEEE Trans. Robotics Automat., 10, 490, 10.1109/70.313099

A. Davison, D.W. Murray, Mobile robot localisation using active vision, Proceedings of the Fifth European Conference on Computer Vision, 1998.

J. Navarrete, J. Alberdi, J. Barcala, V. Chuatchkine, E. Gamero, I. Ioudine, A. Molinero, C. Yuste, Sistema de vision tridimensional del robot movil de locomocion sobre patas rimho. Proceedings of IV Congreso espanol de la AER, Zaragoza, Spain, October 1995, pp. 85–91.

D. Pack, Perceptual-based control for a quadruped walking robot, Proceedings of the IEEE International Conference on Robotics and Automation, 1996, pp. 2994–3001.

O. Faugeras, F. Lustman, G. Toscani, Motion and structure from motion from point and line matches, Proceedings of the First International Conference on Computer Vision, 1987, pp. 25–34.

R. Cipolla, Y. Okamoto, Y. Kuno, Robust structure from motion using motion parallax, Fourth International Conference on Computer Vision (ICCV93), 1993, pp. 374–382.

Beardsley, 1997, Sequential updating of projective and affine structure from motion, Int. J. Comput. Vision, 23, 235, 10.1023/A:1007923216416

T.J. Broida, S. Chandrashekhar, R. Chellappa, Recursive estimation of 3-d kinematics and structure from a noisy monocular image sequence, Proceedings of ISCV, November 1995.

T.Y. Tian, C. Tomasi, D.J. Heeger, Comparison of approaches to egomotion computation, Proceedings of the Conference on Computer Vision and Pattern Recognition, 1996, pp. 315–320.

Z. Zhang, A new multistage approach to motion and structure estimation: from essential parameters to euclidean motion via fundamental matrix, Technical Report No. 2910, INRIA, Sophia Antipolis, France, 1996.

P.F. McLauchlan, D.W. Murray, A unifying framework for structure and motion recovery from image sequences, Proceedings of the Fifth International Conference on Computer Vision, Cambridge, MA, 1995, pp. 314–320.

R. Cipolla, A. Blake, Surface orientation and time to contact from image divergence and deformation, Proceedings of the Second European Conference on Computer Vision, 1992, pp. 187–202.

Blake, 1998

Mundy, 1992

Foley, 1996

Blake, 1995, Learning to track the visual motion of contours, J. Artif. Intell., 78, 101, 10.1016/0004-3702(95)00032-1

Fermuller, 1995, Qualitative egomotion, Int. J. Comput. Vision, 15, 7, 10.1007/BF01450848

C. Tomasi, J. Shi, Direction of heading from image deformations, IEEE Conference on Computer Vision and Pattern Recognition, 1993, pp. 422–427.

J. Lawn, R. Cipolla, Epipole estimation using affine motion parallax, Proceedings of the British Machine Vision Conference, 1993.

J. Santos-Victor, G. Sandini, Visual behaviors for docking, Technical Report, LIRA-Lab-DIST University of Genova, TR 2/94, 1994.

Dickmanns, 1988, Dynamic monocular machine vision, Mach. Vision Appl., 1, 223, 10.1007/BF01212361

Faugeras, 1993

Q.T. Luong, R. Deriche, O. Faugeras, T. Papadopoulo, On determining the fundamental matrix: analysis of different methods and experimental results, Technical Report, INRIA, Sophia Antipolis, RR 1894, 1993.

Torr, 1997, The development and comparison of robust methods for estimating the fundamental matrix, International Journal on Computer Vision, 24, 271, 10.1023/A:1007927408552

Z. Zhang, Determining the epipolar geometry and its uncertainty: a review, Technical Report, No. 2927, INRIA, Sophia Antipolis, France, 1996.

R. Deriche, Z. Zhang, Q.T. Luong, O. Faugeras, Robust recovery of the epipolar geometry for an uncalibrated stereo rig. Proceedings of the Third European Conference on Computer Vision, Stockholm, 1994, pp. 567–576.

J. Shi, C. Tomasi, Good features to track, Proceedings of the Conference on Computer Vision and Pattern Recognition, 1994, pp. 593–600.

Shapiro, 1995

Zhang, 1995, A robust technique for matching two uncalibrated images through the recovery of the unknown epipolar geometry, Artif. Intell. J., 78, 87, 10.1016/0004-3702(95)00022-4

Weng, 1993

S.M. Bozic, Digital and Kalman Filtering, An Introduction to Discrete-Time Filtering and Optimum Linear Estimation, Edward Arnold, London, 1979.

C. Harris, Determination of egomotion from matched points, Proceedings of the Third Alvey Vision Conference, 1987.

Silva, 1997, Robust egomotion estimation from the normal flow using search subspaces, IEEE Trans. Pattern Anal. Mach. Intell., 19, 1026, 10.1109/34.615451

A. Verri, E. Trucco, Finding the epipole from uncalibrated optical flow, Proceedings of British Machine Vision Conference, 1997, pp. 605–609.

M. Irani, B. Rousso, S. Peleg, Recovery of egomotion using image stabilization, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, Seatle, WA, June 1994, pp. 454–460.