Visually guided obstacle detection and avoidance for legged robot.

Chow Ying-ho.Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.Includes bibliographical references (leaves 78-83).Abstracts in English and Chinese.Chapter Chapter 1 --- Introduction --- p.1Chapter 1.1 --- Objectives - Visual Navigation for Legged Robots --- p.1Chapter 1.2 --- Summary of Results --- p.3Chapter 1.3 --- Hardware Issues --- p.4Chapter 1.4 --- Contributions --- p.4Chapter 1.5 --- Organization of the Thesis --- p.4Chapter Chapter 2 --- Previous Work --- p.6Chapter 2.1 --- Vision Based Navigation --- p.6Chapter 2.1.1 --- Homography --- p.7Chapter 2.1.2 --- Ground Plane Obstacle Detection --- p.9Chapter 2.1.3 --- Regression --- p.12Chapter 2.2 --- Control Strategy --- p.13Chapter Chapter 3 --- System Overview --- p.16Chapter Chapter 4 --- Obstacle Detection by Fast Homography Estimation --- p.20Chapter 4.1 --- Ground Feature Extraction --- p.21Chapter 4.2 --- Ground Feature Correspondence --- p.21Chapter 4.3 --- Ground Homography Estimation --- p.24Chapter 4.3.1 --- Input point transformation --- p.24Chapter 4.3.2 --- Initial estimation --- p.26Chapter 4.3.3 --- Robust estimation --- p.27Chapter 4.4 --- Obstacle Detection --- p.29Chapter 4.5 --- Local Obstacle Map (LOM) on Ground --- p.33Chapter 4.5.1 --- Extraction from accumulative evidence --- p.34Chapter 4.5.2 --- Time-delay compensation --- p.34Chapter Chapter 5 --- Obstacle Avoidance by a Fuzzy Controller --- p.36Chapter 5.1 --- Gait Pattern --- p.38Chapter 5.2 --- Fuzzy Logic Controller --- p.42Chapter 5.2.1 --- Controller Inputs --- p.42Chapter 5.2.2 --- Controller Outputs --- p.43Chapter 5.2.3 --- Inference mechanism --- p.46Chapter Chapter 6 --- Implementation --- p.49Chapter 6.1 --- Hardware components --- p.49Chapter 6.1.1 --- VisionBug --- p.49Chapter 6.1.2 --- RF transmitter / receiver modules: --- p.52Chapter 6.2 --- Perception --- p.55Chapter 6.3 --- Image Calibration --- p.56Chapter 6.4 --- Motion Calibration: --- p.58Chapter 6.5 --- Software Programs --- p.66Chapter 6.5.1 --- Computational complexity --- p.68Chapter Chapter 7 --- Experimental Results --- p.69Chapter 7.1 --- Real Navigation Experiments --- p.70Chapter 7.2 --- Error Analysis of LOM --- p.73Chapter Chapter 8 --- Conclusion and future work --- p.7