Title :
Feature matching in 360° waveforms for robot navigation
Author :
Zhang, Zhongfei ; Weiss, Richard ; Riseman, Edward M.
Author_Institution :
Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
A target location is represented by compressing a 360° image from a spherical mirror into a circular waveform. Navigation tasks are specified as a sequence of homing tasks on target locations. This is accomplished by matching landmarks from the current view with the next target view. A method is provided for matching using qualitative geometric features of each of the waveforms. In addition, a geometric analysis allows one to do 3-D reasoning about the environment, which is sufficient for computing the rotation and translation between the current location and the target location. It eventually may allow acquisition of a 3-D model of the environment
Keywords :
computer vision; computerised pattern recognition; mobile robots; spatial reasoning; 360° image; 3D reasoning; circular waveform; current view; feature matching; landmarks; motion analysis; qualitative geometric features; robot navigation; spherical mirror; target location; Algorithm design and analysis; Contracts; Image coding; Information science; Military computing; Mirrors; Motion analysis; Navigation; Robot kinematics; Robustness;
Conference_Titel :
Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-8186-2148-6
DOI :
10.1109/CVPR.1991.139809
