NDLI: High accurate and robust Shadow Casting image processing with data composition for tele-sampling task

Content Provider	IEEE Xplore Digital Library
Author	Kunii, Y. Niibori, T. Shinotsuka, T.
Copyright Year	2009
Description	Author affiliation: Depertment of Electrical, Electric and Communication Engineering, Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo Japan (Kunii, Y.; Niibori, T.; Shinotsuka, T.)
Abstract	In recent years, planetary rover attracted a lot of interest and especially. geological observation brings ouy new knowledge about the history of the birth of planets and our solar system. To get the geological information, the sampling and measurement of a rock and sand are required. It means the measurement of 3D surface information of workspace for manipulator is the most important process. Usually, the surface information is brought out by a stereo image processing, and a camera is the strongest candidate of sensors installing on a rover. However a natural object has much complexity and self-similarity which cause for matching error of stereo process. In this paper, to handle those subjects, we apply the projection of shadow by a stick or a manipulator. Shadow makes featured area helping for matching process and its shape is containing the 3D surface information. Therefore, Shadow Casting Stereo Imaging (SCSI) and Shadow Range Finder (SRF) are proposed and applied for 3D surface measurement. SCSI is based on stereo processing which has occlusion problem, and SRF take monocular image. We discuss data composition with SCSI and SRF to eliminate uncertainty and occlusion area of SCSI. Finally, proposed method is evaluated by experimental setup with manipulator.
Starting Page	1
Ending Page	6
File Size	2579854
Page Count	6
File Format	PDF
ISBN	9781424448555
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-22
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	GPS Gesellschaft
Subject Keyword	Robustness Casting Image processing Extraterrestrial measurements Geologic measurements Geology History Planets Solar system Image sampling
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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