NDLI: Active parameter control for the low level vision system of a mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Appenzeller, G. Weckesser, P. Dilimann, R.
Copyright Year	1996
Description	Author affiliation: Inst. for Real-Time Comput. Syst. & Robotics, Karlsruhe Univ., Germany (Appenzeller, G.)
Abstract	Computer vision systems are today an important sensor for intelligent robotic systems. However, the design of a vision system that a robot can use as a fast and robust sensor in a complex, partially unknown and dynamic environment is still difficult. A main reason for this is that the parameters of vision systems are often adjusted by hand and remain static during the operation of the robot. In this paper we present a general architecture that adapts the the parameters of a segment based low-level vision system dynamically to increase its speed and robustness. Adaptation is done to a priori knowledge about the environment or to the sensor data itself. The architecture is implemented on a mobile robot using special hardware that allows real-time operation. Quantitative experimental data on its performance is given.
Starting Page	1256
Ending Page	1263
File Size	859411
Page Count	8
File Format	PDF
ISBN	078033213X
DOI	10.1109/IROS.1996.568979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-11-08
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Machine vision Intelligent sensors Robot sensing systems Robot vision systems Sensor systems Intelligent robots Robustness Computer vision Intelligent systems
Content Type	Text
Resource Type	Article

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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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