NDLI: 3D objects detection with Bayesian networks for vision-guided mobile robot navigation

Content Provider	IEEE Xplore Digital Library
Author	Wen Shang Xudong Ma Xianzhong Dai
Copyright Year	2004
Description	Author affiliation: Dept. of Autom. Control, Southeast Univ., Nanjing, China (Wen Shang; Xudong Ma; Xianzhong Dai)
Abstract	Recognition of environmental features, which is now the central research topic both in computer vision and mobile robot fields, is prerequisite for vision-guided mobile robot navigation. Perceptual organization is a powerful tool for object recognition through grouping low-level features into objects. In this paper, a perceptual organization algorithm based-on Bayesian networks is proposed to recognize 3D polyhedrons, e.g. compartments and doors, from 2D image in office environment. The algorithm makes full use of knowledge representation and probability inference characteristics of Bayesian networks, thus generating robust recognition results. Moreover, mobile robot active ability is developed to enhance recognition effects. Experimental results demonstrate the validity of the algorithm.
Starting Page	1134
Ending Page	1139
File Size	949900
Page Count	6
File Format	PDF
ISBN	0780386531
DOI	10.1109/ICARCV.2004.1469004
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Object detection Bayesian methods Mobile robots Navigation Inference algorithms Computer vision Object recognition Image recognition Knowledge representation Character generation
Content Type	Text
Resource Type	Article

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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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