The pq-Histogram as a Navigation Clue
نویسندگان
چکیده
We propose a novel visual clue for navigation, in which the local 3D information or (p, q) is summarised in a single structure, called pq-histogram. The pq-histogram is obtained by discretising in logarithmic scale the local depth (p, q). Since this histogram gives a global view of the scene, it could be used as a fast clue for navigation. An arrangement of four pq-histograms, one for each image quadrant, can advise many orientations. The potential application of the pq-histogram is illustrated in two domains. Firstly, semi-automatic navigation of an endoscope inside the human colon. Secondly, mobile robot navigating in certain environments, such as corridors and mines. In both cases, the method was tested with real images with encouraging results. Keywords—pq-histogram, visual navigation, visual clue
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Navigation Advice from pq-Histograms
We propose a novel visual navigation clue based on summarising the local 3D information into a single structure, called pqhistogram. This structure is obtained by discretising the local orientation or [p, q] of an image, and building a two dimensional histogram. This histogram gives a global view of the 3D shape of the world, therefore it could be used for navigation. The potential application ...
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