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Towards implementation of far background tracker for vision-based robot navigation

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2012
711.pdf (1.395Mb)
Authors
Karan, Branko
Conference object (Submitted Version)
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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.
Keywords:
visual tracking / robot navigation / robot orientation
Source:
Proceedings of the 13th IEEE International Symposium on Computational Intelligence and Informatics, 2012, November 20–22, Budapest, 2012, 353-358
Publisher:
  • IEEE
Funding / projects:
  • Design of Robot as Assistive Technology in Treatement of Children with Developmental Disorders (RS-44008)
  • Research and development of ambient-intelligent service robots with anthropomorphic characteristics (RS-35003)

DOI: 10.1109/CINTI.2012.6496789

ISBN: 978-1-4673-5204-8

Scopus: 2-s2.0-84876935181
[ Google Scholar ]
Handle
https://hdl.handle.net/21.15107/rcub_dais_714
URI
https://dais.sanu.ac.rs/123456789/714
Collections
  • ИТН САНУ - Општа колекција / ITS SASA - General collection
Institution/Community
Институт техничких наука САНУ / Institute of Technical Sciences of SASA
TY  - 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 .

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