Robot Vision: Video-based Indoor Exploration with Autonomous and Mobile Robots

摘要

List of Figures. Symbols and Abbreviations. 1 Introduction. 2 Image Processing. 2.1 Color Models. 2.2 Filtering. 2.3 Morphological Image Processing. 2.4 Edge Detection. 2.5 Skeleton Procedure. 2.6 The Segmentation of Image Regions. 2.7 Threshold. 3 Navigation. 3.1 Coordinate Systems. 3.2 Representation Forms. 3.3 Path Planning. 3.4 The Architecture of a Multilevel Map Representation. 3.5 Self-localization. 4 Vision Systems. 4.1 The Human Visual Apparatus. 4.2 The Human Visual Apparatus as Model for Technical Vision Systems. 4.3 Camera Types. 5 CAD. 5.1 Constructive Solid Geometry. 5.2 Boundary-representation Schema (B-rep). 5.3 Approximate Models. 5.4 Hybrid Models. 5.5 Procedures to Convert the Models. 5.6 The Use of CAD in Computer Vision. 5.7 Three-dimensional Reconstruction with Alternative Approaches. 6 Stereo Vision. 6.1 Stereo Geometry. 6.2 The Projection of the Scene Point. 6.3 The Relative Motion of the Camera. 6.4 The Estimation of the Fundamental Matrix B. 6.5 Image Rectification. 6.6 Ego-motion Estimation. 6.7 Three-dimensional Reconstruction by Known Internal Parameters. 6.8 Three-dimensional Reconstruction by Unknown Internal and External Parameters. 6.9 Stereo Correspondence. 6.10 Image-sequence Analysis. 6.11 Three-dimensional Reconstruction from Image Sequences with the Kalman Filter. 7 Camera Calibration. 7.1 The Calibration of One Camera from a Known Scene. 7.2 Calibration of Cameras in Robot-vision Systems. 8 Self-learning Algorithms. 8.1 Semantic Maps. 8.2 Classificators for Self-organizing Neural Networks. 9 OCR. 10 Redundancy in Robot-vision Scenarios. 10.1 Redundant Programs for Robot-vision Applications. 10.2 The Program. 10.3 The Program Flow. 10.4 Experiment. 10.5 Conclusion. 11 Algorithm Evaluation of Robot-vision Systems for Autonomous Robots. 11.1 Algorithms for Indoor Exploration. 11.2 Experiments. 11.3 Conclusion. 12 Calibration for Autonomous Video-based Robot Systems. 12.1 Camera Calibration for Indoor Exploration. 12.2 Simple Calibration with SICAST. 12.3 Experiments. 12.4 Conclusion. 13 Redundant Robot-vision Program for CAD Modeling. 13.1 New CAD Modeling Method for Robot-vision Applications. 13.2 Experiment. 13.3 Conclusion. Bibliography. Index.