Knowledge-based adaptive thresholding from shadows
نویسندگان
چکیده
This paper presents results of a mobile robot qualitative self-localisation experiment using information from cast shadows. We present results of self-localisation using two methods for obtaining the threshold automatically: in one method the images are segmented according to their grey-scale histograms, in the other the threshold is set according to a prediction about the robot’s location, given a shadow-based map defined upon a qualitative spatial reasoning theory. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform egolocation and to calibrate a robot’s interpretation of its perceptual input.
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Knowledge-based adaptive thresholding from qualitative robot localisation using cast shadows
This paper presents results of a mobile robot qualitative self-localisation experiment using information from cast shadows. Shadow detection was accomplished by mapping the images from the robot’s monocular colour camera into a HSV colour space and then thresholding on V. We present results of self-localisation using two methods for obtaining the threshold automatically: in one method the image...
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