Structured illumination autonomous machine vision system

Image analysis – Histogram processing – For setting a threshold

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36442401, 382 22, G06K 936

Patent

active

051557754

ABSTRACT:
A method and apparatus for automatically determining pathway boundaries for autonomous robotic navigation. A structured light pattern consisting of a plurality of lines is projected on the pathway and background and the reflected pattern is detected by a stereoscopically located video camera. Since the texture of the pathway and background are different, the captured image may be processed to distinguish one from the other. Image processing includes Hough transformation of the image field, rank filtering and morphological dilation. The end points of the pathway lines identified by such processing as well as the 3-D coordinates of such end points are determined.

REFERENCES:
Handbook of Pattern Recognition and Image Processing 1986, Tzay Young and King-Sun Fu pp. 200-201, 262-264.
Moigne et al., "Projected Light Grids for Short Range Navigation of Autonomous Robots", Computer Vision, Graphics, and Image Processing vol. 28, 1984.

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