Accession Number:

ADA248370

Title:

Modelling, Visibility Testing and Projection of an Orthogonal Three Dimensional World in Support of a Single Camera Vision System

Descriptive Note:

Master's thesis

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

Report Date:

1992-03-01

Pagination or Media Count:

179.0

Abstract:

Proper interpretation of the environment is essential for mission planning and navigation of an autonomous mobile robot. An on board vision system may provide the most useful raw data. This work develops part of a vision system for the Naval Postgraduate Schools mobile robot, Yamabico-11. Accurately modeling the robots environment is imperative to support position verification and path planning. The decision to use an extended two dimensional model, an orthogonal wire-frame representation, is discussed. Additionally, to support pattern matching, a package of graphic routines, utilizing traditional algorithms and an innovative sweep algorithm to determine line segment visibility, has been developed. This work demonstrates that an asymmetric model is appropriate to represent a three dimensional environment in support of vision interpretation for mobile robots.

Subject Categories:

  • Computer Programming and Software
  • Cybernetics
  • Optical Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE