Artificial vision for mobile robots : stereo vision and multisensory perception
- 作者： Ayache, Nicholas
- 其他題名：
- Vision stereoscopique et perception multisensorielle
- 出版： Cambridge, Mass. : MIT Press
- 叢書名： Artificial intelligence
- 主題： Robot vision
- ISBN： 0262011247 :: US$50.00
- 資料類型: 圖書
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讀者標籤：
- 系統號： 005146015 | 機讀編目格式
館藏資訊
To give mobile robots real autonomy, and to permit them to act efficiently in a diverse, cluttered, and changing environment, they must be equipped with powerful tools for perception and reasoning. Artificial Vision for Mobile Robots presents new theoretical and practical tools useful for providing mobile robots with artificial vision in three dimensions, including passive binocular and trinocular stereo vision, local and global 3D map reconstructions, fusion of local 3D maps into a global 3D map, 3D navigation, control of uncertainty, and strategies of perception. Numerous examples from research carried out at INRIA with the Esprit Depth and Motion Analysis project are presented in a clear and concise manner. Nicolas Ayache is Research Director at INRIA, Le Chesnay, France. Contents. General Introduction. Stereo Vision. Introduction. Calibration. Image Representation. Binocular Stereo Vision Constraints. Binocular Stereo Vision Algorithms. Experiments in Binocular Stereo Vision. Trinocular Stereo Vision, Outlook. Multisensory Perception. Introduction. A Unified Formalism. Geometric Representation. Construction of Visual Maps. Combining Visual Maps. Results: Matching and Motion. Results: Matching and Fusion. Outlook.