Röben, Frank: Biologically inspired visual navigation in indoor and outdoor environments. 2009
Inhalt
- Introduction
- Motivation
- Outline and Contributions
- Insect Visual System
- Visual Homing
- Outdoor Navigation with Color Contrasts
- Cleaning Robot Control
- Objectives
- Polarized-Light Compass
- Local Visual Homing Methods
- Outdoor Navigation with Color Contrasts
- Cleaning Robot Control
- Materials and Methods
- Image Databases
- Quality Measures for Navigation
- Statistical Methods
- Scale Invariant Feature Transform (SIFT)
- Scale-space and Detection of Extrema
- Localization of Keypoints
- Assigning an Orientation
- Computation of Keypoint Descriptor
- Image Parameters
- Polarized-Light Compass
- Hardware
- Tests
- Polarized Filter Test
- Polarized-Light vs. Electromagnetic Compass
- Measuring the e-vector Field of the Sky
- Discussion
- Summary and Conclusion
- Local Visual Homing Methods
- SIFT Homing
- Movement Vector for Correlated Keypoints
- Home Vector for Correlated Keypoint Descriptors
- Overall Home Vector
- Tests
- Discussion
- Parameter Models
- Summary and Conclusion
- Outdoor Navigation with Color Contrasts
- Five-Channel Hand-held Sensor
- Spectral Contrast Analysis for Natural Objects
- Spectral Contrast Analysis for Artificial Objects
- 2D- Scene Contrast Analysis
- Data Collection
- Contrast Stability over Time
- Contrast Stability over Time after Skyline Separation
- Discussion
- Visual Homing with Skyline Information
- Summary and Conclusion
- Cleaning Robot Control
- Overall Conclusion
- Future Research
- Bibliography
- Polarized-light Compass, Additional Figures
- SIFT Homing
- Parameter-Navigation
- Homing Using Non-Rotation Invariant Parameter
- Homing Using Rotation Invariant Parameter
- Parameter-Navigation, Additional Figures
- Contrasts, Additional Figures