NDLI: Visual orientation in the sewer - adaptation to the environment

Content Provider	IEEE Xplore Digital Library
Author	Kolesnik, M.
Copyright Year	2002
Description	Author affiliation: Fraunhofer Inst. for Media Commun., Sankt-Augustin, Germany (Kolesnik, M.)
Abstract	Most biological systems employ visually acquired information for their locomotion. In the course of evolutionary history, the visual system of organisms has evolved to be adapted to the environment. As a consequence of this adaptation, biological systems often display highly efficient visual skills. This reasoning has motivated the development of a specific visual system, which serves the purpose of navigation in an unusual environment - a sewer. The sewer environment exhibits two dominating features: restricted geometry of its inner surfaces and absolute darkness. These features are exploited by the hybrid vision system of the autonomous robot consisting of a crosshair laser projector and a camera. If a priori knowledge about the sewer geometry is taken into account, orientation of the robot can be derived from a visual analysis of a regular laser pattern projected onto the sewer surface. Because the footprint image is acquired in an entirely dark environment, the camera records a mostly dark image with the bright footprint in it. The analysis of such an image is very fast and knowledge of the robot's instantaneous orientation derived from this analysis is enough to guide its navigation. It is concluded that proper exploitation of the environmental constraints has lead to the development of this highly efficient visual system.
Starting Page	856
Ending Page	859
File Size	350723
Page Count	4
File Format	PDF
ISBN	076951695X
ISSN	10514651
DOI	10.1109/ICPR.2002.1048437
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-08-11
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual system Robot vision systems Biological systems Navigation Geometrical optics Computational geometry Cameras Image analysis History Organisms
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

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

Visual orientation in the sewer – adaptation to the environment.

Omni-directional vision for robot navigation

Vision for mobile robot navigation: a survey

A visual navigation system of a mobile robot using perspective geometry

A note on principal point estimability

Circle-Marker Detection Method for Omnidirectional Images and its Application to Robot Positioning

Visual landmarks detection and recognition for mobile robot navigation

Character-based mobile robot navigation

Epipolar geometry from the deformation of an active contour

Visual orientation in the sewer - adaptation to the environment

Similar Documents

Visual orientation in the sewer – adaptation to the environment.

Omni-directional vision for robot navigation

Vision for mobile robot navigation: a survey

A visual navigation system of a mobile robot using perspective geometry

A note on principal point estimability

Circle-Marker Detection Method for Omnidirectional Images and its Application to Robot Positioning

Visual landmarks detection and recognition for mobile robot navigation

Character-based mobile robot navigation

Epipolar geometry from the deformation of an active contour

Visual orientation in the sewer - adaptation to the environment