17,556 research outputs found
Monocular Vision as a Range Sensor
One of the most important abilities for a mobile robot is detecting obstacles in order to avoid collisions. Building a map of these obstacles is the next logical step. Most robots to date have used sensors such as passive or active infrared, sonar or laser range finders to locate obstacles in their path. In contrast, this work uses a single colour camera as the only sensor, and consequently the robot must obtain range information from the camera images. We propose simple methods for determining the range to the nearest obstacle in any direction in the robot’s field of view, referred to as the Radial Obstacle Profile. The ROP can then be used to determine the amount of rotation between two successive images, which is important for constructing a 360º view of the surrounding environment as part of map construction
A Comparison of Nature Inspired Algorithms for Multi-threshold Image Segmentation
In the field of image analysis, segmentation is one of the most important
preprocessing steps. One way to achieve segmentation is by mean of threshold
selection, where each pixel that belongs to a determined class islabeled
according to the selected threshold, giving as a result pixel groups that share
visual characteristics in the image. Several methods have been proposed in
order to solve threshold selectionproblems; in this work, it is used the method
based on the mixture of Gaussian functions to approximate the 1D histogram of a
gray level image and whose parameters are calculated using three nature
inspired algorithms (Particle Swarm Optimization, Artificial Bee Colony
Optimization and Differential Evolution). Each Gaussian function approximates
thehistogram, representing a pixel class and therefore a threshold point.
Experimental results are shown, comparing in quantitative and qualitative
fashion as well as the main advantages and drawbacks of each algorithm, applied
to multi-threshold problem.Comment: 16 pages, this is a draft of the final version of the article sent to
the Journa
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