Vis enkel innførsel

dc.contributor.authorThielemann, Jens T
dc.contributor.authorBreivik, Gøril M.
dc.contributor.authorBerge, Asbjørn
dc.date.accessioned2017-02-22T12:25:18Z
dc.date.available2017-02-22T12:25:18Z
dc.date.created2015-09-24T21:58:26Z
dc.date.issued2008
dc.identifier.citationIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008, Anchorage, AK, 23-28 June, 2008nb_NO
dc.identifier.isbn9781424423392
dc.identifier.urihttp://hdl.handle.net/11250/2431755
dc.description.abstract3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of pipeline features such as junctions, bends and obstacles. Feature extraction is done by fitting a cylinder to images of the pipeline. Data in captured images appear to take a conic rather than cylindrical shape, and we adjust the geometric primitive accordingly. Pixels deviating from the estimated cylinder/cone fit are grouped into blobs. Blobs fulfilling constraints on shape and stability over time are then tracked. The usefulness of TOF imagery as a source for landmark detection and tracking in pipelines is evaluated by comparison to auxiliary measurements. Experiments using a model pipeline and a prototype robot show encouraging results.
dc.description.abstractPipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery
dc.language.isoengnb_NO
dc.relation.ispartofIEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008, Anchorage, AK, 23-28 June, 2008
dc.titlePipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagerynb_NO
dc.typeChapternb_NO
dc.source.pagenumber1572-1578nb_NO
dc.identifier.cristin1274390
cristin.unitcode7401,90,41,0
cristin.unitnameOptiske målesystemer og dataanalyse
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel