Image analysis – Applications – Robotics
Patent
1997-02-19
1999-11-02
Au, Amelia
Image analysis
Applications
Robotics
382154, 382199, 382103, 356376, G06K 900
Patent
active
059785047
ABSTRACT:
The first step in processing three dimensional range data for a vision system of a robot is feature extraction such as planar segmentation. When the sensors used to obtain the range data are mounted on a platform which moves during data acquisition, inter scanline connectivity cannot be relied upon. Therefore, line segments are detected and merged in each scanline and then line segments of different scanlines are merged to form planes. Both merging steps use a least squares threshold. To speed processing, the viewing area is broken into cells and comparisons are made only between cells adjacent to a cell of interest. The resulting planes undergo conventional hypothesis generation and verification.
REFERENCES:
patent: 5093869 (1992-03-01), Alves et al.
patent: 5302997 (1994-04-01), Cocca
patent: 5471541 (1995-11-01), Burtnyk et al.
patent: 5525882 (1996-06-01), Asaka et al.
patent: 5621827 (1997-04-01), Uchiyama et al.
Schiele et al. "A comparison of position estimation techniques using occupancy grids" Proc. of the 1994 IEEE International Conference on Robot and Automation vol. 2 pp. 1628-1634, May 1994.
Jiang et al. "Fast range image segmentation using high-level segmentation primitives" Proceedings Third IEEE Workshop on Applications of Computer Vision. pp. 83-88, Dec. 1996.
Jiang et al. "Fast segmentation of range images into planar regions by scan line grouping" Machine Vision and Applications, Tokyo, 7(2) pp. 115-122, 1994.
Schmitt et al. "Fast segmentation of range images into planar regions" Proc. 1991 IEEE Computer Scociety Conference on Computer Vision and Pattern Recongnition pp. 710-711, Jun. 1991.
Silva et al. "3-D data acquisition and scene segmentation syste" Proc. of the 13 th International Conference on Pattern Recognition v3 pp. 563-567, Aug. 1996.
Zhang et al. "A 3D world model builder with a mobile robot" The International Journal of Robotics Research, v11 No. 4 pp. 269-285, Aug. 1992.
Au Amelia
Carnegie Mellon University
Wu Jingge
LandOfFree
Fast planar segmentation of range data for mobile robots does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Fast planar segmentation of range data for mobile robots, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Fast planar segmentation of range data for mobile robots will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2146569