Towards implementation of far background tracker for vision-based robot navigation
Апстракт
Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.
Кључне речи:
visual tracking / robot navigation / robot orientationИзвор:
Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest, 2012, 353-358Издавач:
- IEEE
Финансирање / пројекти:
- Развој робота као средства за помоћ у превазилажењу тешкоћа у развоју деце (RS-MESTD-Integrated and Interdisciplinary Research (IIR or III)-44008)
- Истраживање и развој амбијентално интелигентних сервисних робота антропоморфних карактеристика (RS-MESTD-Technological Development (TD or TR)-35003)
DOI: 10.1109/CINTI.2012.6496789
ISBN: 978-1-4673-5204-8
Scopus: 2-s2.0-84876935181
Институција/група
Институт техничких наука САНУ / Institute of Technical Sciences of SASATY - CONF AU - Karan, Branko PY - 2012 UR - https://dais.sanu.ac.rs/123456789/714 AB - Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation. PB - IEEE C3 - Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest T1 - Towards implementation of far background tracker for vision-based robot navigation SP - 353 EP - 358 DO - 10.1109/CINTI.2012.6496789 UR - https://hdl.handle.net/21.15107/rcub_dais_714 ER -
@conference{ author = "Karan, Branko", year = "2012", abstract = "Visual tracking of stationary points positioned at a large distance from moving robot provides a good basis for determining robot orientation and it may speed-up operation of structure from motion and navigation algorithms. This paper considers an implementation of the tracker that builds a far background model by assigning each visually tracked point a degree of membership that express an extent to which an apparent motion of corresponding image patch is in accordance to motion of projections of points at infinity. An experimental implementation of the tracker is described together with illustrative examples of its operation.", publisher = "IEEE", journal = "Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest", title = "Towards implementation of far background tracker for vision-based robot navigation", pages = "353-358", doi = "10.1109/CINTI.2012.6496789", url = "https://hdl.handle.net/21.15107/rcub_dais_714" }
Karan, B.. (2012). Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest IEEE., 353-358. https://doi.org/10.1109/CINTI.2012.6496789 https://hdl.handle.net/21.15107/rcub_dais_714
Karan B. Towards implementation of far background tracker for vision-based robot navigation. in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest. 2012;:353-358. doi:10.1109/CINTI.2012.6496789 https://hdl.handle.net/21.15107/rcub_dais_714 .
Karan, Branko, "Towards implementation of far background tracker for vision-based robot navigation" in Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest (2012):353-358, https://doi.org/10.1109/CINTI.2012.6496789 ., https://hdl.handle.net/21.15107/rcub_dais_714 .