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Mobile Robotics Vision Dublin Institte of Technology Home移动机器人视觉都柏林理工学院首页.ppt

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Mobile Robotics Vision Dublin Institte of Technology Home移动机器人视觉都柏林理工学院首页

Blind-Spot Experiment Draw an image similar to that below on a piece of paper (the dot and cross are about 6 inches apart) Close your right eye and focus on the cross with your left eye Hold the image about 20 inches away from your face and move it slowly towards you The dot should disappear! Mobile Robotics:7. Vision 2 Acknowledgments These notes are based (heavily) on those provided by the authors to accompany “Introduction to Autonomous Mobile Robots” by Roland Siegwart and Illah R. Nourbakhsh Today’s Lecture Today we will have a quick tour of some of the uses of vision sensors in robotics today, including: Colour models Object recognition Face recognition Stereo vision Object tracking We will give a brief overview of all of this as computer vision is far too massive a subject to cover in our course RGB Colour Model Think of R, G, B as color orthobasis HSV Colour Model Object Detection Suppose we want to detect an object (e.g., a colored ball) in the field of view We simply need to identify the pixels of some desired colour in the image…right? It’s Not That Easy! Evolution Robotics’ ViPR System Evolution Robotics ViPR (visual pattern recognition) technology provides a reliable and robust vision solution to object recognition The technique is based on extracting salient features from an image Salient features are artefacts such as edges, corners etc The description of an object is a set of up to a thousand salient features, the textures of the pixels around them and their relationships to each other Evolution Robotics’ ViPR System (cont…) Object recognition then involves first finding all of the features in a new image These features are matched against those of all of the models in a database If many features in a new image are the same as those in a database model, the model is a good candidate match Further accuracy is obtained by comparing the relative positions of the matched features in the image and the model The model in the database wi