|Abstract||Very encouraging results have been obtained from a new program that derives a dense three-dimensional evidence grid representation of a robot's surroundings from wide-angle stereoscopic images. The pro gram adds several spatial rays of evidence to a grid for each of about 2,500 local image features chosen per stereo pair. It was used to construct a 256x256x64 grid, representing 6 by 6 by 2 meters, from a hand- collected test set of twenty stereo image pairs of an office scene. Fifty nine stereo pairs of an 8 by 8 meter laboratory were also processed. The positive (probably occupied) cells of the grids, viewed in perspec tive, resemble dollhouse scenes. Details as small as the curvature of chair armrests are discernible. The processing time, on a 100 MIPS Sparc 20, is less than five seconds per stereo pair, and total memory is under 16 megabytes. The results seem abundantly adequate for very reliable navigation of freely roaming mobile robots, and plausibly adequate for shape identification of objects bigger than 10 centimeters. The program is a first proof of concept, and awaits optimizations, enhancements, variations, extensions and applications.|
|Keywords||No keywords specified (fix it)|
|Categories||categorize this paper)|
|Through your library||Only published papers are available at libraries|
Similar books and articles
Gijs J. Brouwer, Raymond van Ee & Jens Schwarzbach (2005). Activation in Visual Cortex Correlates with the Awareness of Stereoscopic Depth. Journal of Neuroscience 25 (45):10403-10413.
John Campbell (2007). What's the Role of Spatial Awareness in Visual Perception of Objects? Mind and Language 22 (5):548–562.
John Schwenkler (2012). Does Visual Spatial Awareness Require the Visual Awareness of Space? Mind and Language 27 (3):308-329.
Daniel C. Dennett (2002). Does Your Brain Use the Images in It, and If so, How? Behavioral and Brain Sciences 25 (2):189-190.
Lucia M. Vaina (1990). Common Functional Pathways for Texture and Form Vision: A Single Case Study. Synthese 83 (1):93 - 131.
Robert Briscoe (2009). Egocentric Spatial Representation in Action and Perception. Philosophy and Phenomenological Research 79 (2):423 - 460.
Hans Moravec (1998). When Will Computer Hardware Match the Human Brain? Journal of Evolution and Technology.
Added to index2009-01-28
Total downloads8 ( #131,711 of 722,917 )
Recent downloads (6 months)1 ( #60,917 of 722,917 )
How can I increase my downloads?