Recognition of 3-D Object Shape and Forward Moving Distance by Monocular Motion Stereo for Mobile Robot
نویسندگان
چکیده
As n vision sv.rtetn of cuctotrotrrorts mobile robot I V I I ~ C I I moves dotrg a pipe and carries out pipe works, srrclr m ~veldtrg, rron&.stn~c?ive inspection cordso on. is constntcted Tlte mhor can tnove dong a pipe and find ohstnrctioris wlziclr offerr exist orr //re pipe. If it is necessmv. the robot ccor move over thetn. Irr onkr to rei-o,qnize the position, shqe mrcl dime~tsiotr of the ol>.stncctiot~, n visitd setrsing svstem qplied monocrtlar tnotion stereo wm cartstnrc'ted m cor eye of the autonomous mobile robot. Parfinlldy, a new al,qorithm, hy wftic.fr 3-13 object shqe and forward movinq dstoice o f robot cat1 he &teered sittiultcn~eorts(y, \vm itrve.sligate(L As the w.vrrlt, it is confirttiedtf~at this system is effective as n visrinl sensor of crrrtotiatnorrs t~iobile robot.
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