Modelling, Visibility Testing and Projection of an Orthogonal Three Dimensional World in Support of a Single Camera Vision System

Abstract

Proper interpretation of the environment is essential for mission planning and navigation of an autonomous mobile robot. An on board vision system may provide the most useful raw data. This work develops part of a vision system for the Naval Postgraduate School's mobile robot, Yamabico-11. Accurately modeling the robot's environment is imperative to support position verification and path planning. The decision to use an extended two dimensional model, an orthogonal wire-frame representation, is discussed. Additionally, to support pattern matching, a package of graphic routines, utilizing traditional algorithms and an innovative sweep algorithm (to determine line segment visibility), has been developed. This work demonstrates that an asymmetric model is appropriate to represent a three dimensional environment in support of vision interpretation for mobile robots.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1992
Accession Number
ADA248370

Entities

People

  • James E. Stein

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Computer Graphics
  • Computer Programming
  • Computer Programs
  • Computer Science
  • Computer Vision
  • Computers
  • Coordinate Systems
  • Dead Reckoning
  • Image Processing
  • Literature Surveys
  • Motion Planning
  • Navigation
  • Operating Systems
  • Robots
  • Three Dimensional
  • Two Dimensional

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy