Knowledge-Based Vision-Guided Robots

✍ Scribed by Dr. Nick Barnes, Professor Zhi-Qiang Liu (auth.)

Publisher: Physica-Verlag Heidelberg
Year: 2002
Tongue: English
Leaves: 239
Series: Studies in Fuzziness and Soft Computing 103
Edition: 1
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

Many robotics researchers consider high-level vision algorithms (computational) too expensive for use in robot guidance. This book introduces the reader to an alternative approach to perception for autonomous, mobile robots. It explores how to apply methods of high-level computer vision and fuzzy logic to the guidance and control of the mobile robot. The book introduces a knowledge-based approach to vision modeling for robot guidance, where advantage is taken of constraints of the robot's physical structure, the tasks it performs, and the environments it works in. This facilitates high-level computer vision algorithms such as object recognition at a speed that is sufficient for real-time navigation. The texts presents algorithms that exploit these constraints at all levels of vision, from image processing to model construction and matching, as well as shape recovery. These algorithms are demonstrated in the navigation of a wheeled mobile robot.

✦ Table of Contents

Front Matter....Pages I-XII
Introduction....Pages 1-8
Related Systems and Ideas....Pages 9-43
Embodied Vision For Mobile Robots....Pages 45-62
Object Recognition Mobile Robot Guidance....Pages 63-86
Edge Segmentation and Matching....Pages 87-107
Knowledge Based Shape from Shading....Pages 109-134
Supporting Navigation Components....Pages 135-145
Fuzzy Control for Active Perceptual Docking....Pages 147-164
System Results and Case Studies....Pages 165-202
Conclusion....Pages 203-207
Back Matter....Pages 209-234

✦ Subjects

Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Image Processing and Computer Vision

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