| dc.contributor.author | Thielemann, Jens T | |
| dc.contributor.author | Breivik, Gøril M. | |
| dc.contributor.author | Berge, Asbjørn | |
| dc.date.accessioned | 2017-02-22T12:25:41Z | |
| dc.date.available | 2017-02-22T12:25:41Z | |
| dc.date.created | 2015-09-24T21:58:30Z | |
| dc.date.issued | 2008 | |
| dc.identifier.citation | CVPR 2008 Workshop on Time of Flight Camera based Computer Vision (TOF-CV) | nb_NO |
| dc.identifier.uri | http://hdl.handle.net/11250/2431757 | |
| dc.description.abstract | 3D 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.abstract | Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery | |
| dc.language.iso | eng | nb_NO |
| dc.title | Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery | nb_NO |
| dc.type | Lecture | nb_NO |
| dc.identifier.cristin | 1274391 | |
| cristin.unitcode | 7401,90,41,0 | |
| cristin.unitname | Optiske målesystemer og dataanalyse | |
| cristin.ispublished | true | |
| cristin.fulltext | postprint | |
