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    首頁> 外文學位 >Single camera-based vision systems for ground & aerial robots.
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    Single camera-based vision systems for ground & aerial robots.

    機譯:用于地面和空中機器人的基于單相機的視覺系統。

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    摘要

    Efficient and effective vision systems are proposed in this work for object detection for ground & aerial robots venturing into unknown environments with minimum vision aids, i.e. a single camera. The first problem attempted is that of object search and identification in a situation similar to a disaster site. Based on image analysis, typical pixel-based characteristics of a visual marker have been established to search for, using a block based search algorithm, along with a noise and interference filter. The proposed algorithm has been successfully utilized for the International Aerial Robotics competition 2009.;The second problem deals with object detection for collision avoidance in 3D environments. It has been shown that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides. The forward flight simulations show that the depth extracted from forward motion is usable for large part of the image. After analyzing various constraints associated with this and other existing approaches, Motion Estimation has been proposed. Implementation of motion estimation on videos from onboard cameras resulted in various undesirable and noisy vectors. An in depth analysis of such vectors is presented and solutions are proposed and implemented, demonstrating desirable motion estimation for collision avoidance task.
    機譯:在這項工作中,提出了一種高效且有效的視覺系統,用于對進入未知環境的地面和空中機器人的物體進行檢測,并使用最少的視覺輔助設備,即單個攝像機。嘗試的第一個問題是在類似于災難現場的情況下進行對象搜索和識別的問題?;趫D像分析,已經建立了視覺標記的典型的基于像素的特征,以使用基于塊的搜索算法以及噪聲和干擾濾波器進行搜索。所提出的算法已成功用于2009年國際空中機器人競賽。第二個問題涉及在3D環境中避免碰撞的目標檢測。已經顯示,可以從來自單個照相機的2D圖像信息生成場景的3D模型,該2D圖像通過圍繞對象的很小的橫向飛行弧線飛行,而無需從所有側面捕獲圖像。前向飛行模擬表明,從前向運動中提取的深度可用于大部分圖像。在分析了與此方法和其他現有方法相關的各種約束之后,提出了運動估計。對來自車載攝像機的視頻進行運動估計會導致各種不良和嘈雜的向量。提出了對此類矢量的深入分析,并提出并實現了解決方案,從而證明了避免碰撞任務所需的運動估計。

    著錄項

    • 作者

      Shah, Syed Irtiza Ali.;

    • 作者單位

      Georgia Institute of Technology.;

    • 授予單位 Georgia Institute of Technology.;
    • 學科 Engineering Aerospace.
    • 學位 Ph.D.
    • 年度 2010
    • 頁碼 172 p.
    • 總頁數 172
    • 原文格式 PDF
    • 正文語種 eng
    • 中圖分類
    • 關鍵詞

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