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A Comparison And Evaluation Of Three Different Pose Estimation Algorithms In Detecting Low Texture Manufactured Objects, Robert Kriener
A Comparison And Evaluation Of Three Different Pose Estimation Algorithms In Detecting Low Texture Manufactured Objects, Robert Kriener
All Theses
This thesis examines the problem of pose estimation, which is the problem of determining the pose of an object in some coordinate system. Pose refers to the object's position and orientation in the coordinate system. In particular, this thesis examines pose estimation techniques using either monocular or binocular vision systems.
Generally, when trying to find the pose of an object the objective is to generate a set of matching features, which may be points or lines, between a model of the object and the current image of the object. These matches can then be used to determine the pose of …
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
All Theses
This thesis presents a new method to extract depth information from stereo-vision acquisitions using a feature and a correlation based approaches. The main implementation of the proposed method is in the area of Autonomous Pick & Place, using a robotic manipulator. Current vision-guided robotics are still based on a priori training and teaching steps, and still suffer from long response time.
The study uses a stereo triangulation setup where two Charged Coupled Devices CCDs are arranged to acquire the scene from two different perspectives. The study discusses the details of two methods to calculate the depth; firstly a correlation matching …
Segmentation Of Floors In Corridor Images For Mobile Robot Navigation, Yinxiao Li
Segmentation Of Floors In Corridor Images For Mobile Robot Navigation, Yinxiao Li
All Theses
This thesis presents a novel method of floor segmentation from a single image for mobile robot navigation. In contrast with previous approaches that rely upon homographies, our approach does not require multiple images (either stereo or optical flow). It also does not require the camera to be calibrated, even for lens distortion. The technique combines three visual cues for evaluating the likelihood of horizontal intensity edge line segments belonging to the wall-floor boundary. The combination of these cues yields a robust system that works even in the presence of severe specular reflections, which are common in indoor environments. The nearly …