NDLI: Wide-area recognition using hybrid motion stereo outlier rejection for motion stereo: outlier rejection for motion stereo using sequential data

Content Provider	IEEE Xplore Digital Library
Author	Nishide, S. Takubo, T. Inoue, K. Arai, T.
Copyright Year	2005
Description	Author affiliation: Dept. of Syst. Innovation, Osaka Univ., Japan (Nishide, S.; Takubo, T.; Inoue, K.; Arai, T.)
Abstract	Robots working in complex environment require accurate perception of a wide field of view. Using cameras, hybrid motion stereo, which combines the computations by stereo vision and motion stereo, is capable of acquiring positional information of the whole field of view. However, the technique generates errors in computation by motion stereo when tracking feature points fails. This paper describes a method to reject the outliers to avoid erroneous recognition. The method uses computation results from several previous images, computing the spatial deviation and temporal deviation of points, and rejecting those considered to be deviated. The evaluation function is composed with a weighted average of the sequential results, each with a weight of the total number of points existing in the neighboring space, which represents the spatial deviation. Experimental results using the humanoid robot HRP-2 denote the effectiveness of the method.
Starting Page	647
Ending Page	652
File Size	471705
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545104
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Cameras Computer vision Robot vision systems Mobile robots Tracking Human robot interaction Orbital robotics Object recognition Computational efficiency Motion Stereo Mobile Robot Environmental Recognition Stereo Vision
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Wide-Area Recognition Using Hybrid Motion Stereo

Physical distance based human robot interaction in intelligent environment

Vision-based global localization for mobile robots using an object and spatial layout-based hybrid map

Humanoid robot localisation using stereo vision

Environmental mapping for mobile robot by tracking SIFT feature Points using trinocular vision

Motion Estimation for a Mobile Robot Based on Real-Time Stereo Vision System

Stereo Vision based Moving Target Tracking for Omni-directional Mobile Robots in 2D Space

Visual navigation of uncalibrated mobile robots from uncalibrated stereo pointers

Pedestrian tracking from a mobile robot using a laser range finder

Wide-area recognition using hybrid motion stereo outlier rejection for motion stereo: outlier rejection for motion stereo using sequential data

Similar Documents

Wide-Area Recognition Using Hybrid Motion Stereo

Physical distance based human robot interaction in intelligent environment

Vision-based global localization for mobile robots using an object and spatial layout-based hybrid map

Humanoid robot localisation using stereo vision

Environmental mapping for mobile robot by tracking SIFT feature Points using trinocular vision

Motion Estimation for a Mobile Robot Based on Real-Time Stereo Vision System

Stereo Vision based Moving Target Tracking for Omni-directional Mobile Robots in 2D Space

Visual navigation of uncalibrated mobile robots from uncalibrated stereo pointers

Pedestrian tracking from a mobile robot using a laser range finder

Wide-area recognition using hybrid motion stereo outlier rejection for motion stereo: outlier rejection for motion stereo using sequential data