Artificial Vision for Mobile Robots: Stereo Vision and Multisensory Perception

摘要: To give mobile robots real autonomy, and to permit them act efficiently in a diverse, cluttered, changing environment, they must be equipped with powerful tools for perception reasoning. "Artificial Vision Mobile Robots "presents new theoretical practical useful providing artificial vision three dimensions, including passive binocular trinocular stereo vision, local global 3D map reconstructions, fusion of maps into map, navigation, control uncertainty, strategies perception. Numerous examples from research carried out at INRIA the Esprit Depth Motion Analysis project are presented clear concise manner.Contents. General Introduction. Stereo Vision. Calibration. Image Representation. Binocular Constraints. Algorithms. Experiments Trinocular Vision, Outlook. Multisensory Perception. A Unified Formalism. Geometric Construction Visual Maps. Combining Results: Matching Motion. Fusion.