Image Based Solution to Occlusion Problem for Multiple Robots Navigation
In machine vision, occlusions problem is always a challenging issue in image based mapping and navigation tasks. This paper presents a multiple view vision based algorithm for the development of occlusion-free map of the indoor environment. The map is assumed to be utilized by the mobile robots wi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Mehran University of Engineering and Technology
2012-04-01
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| Series: | Mehran University Research Journal of Engineering and Technology |
| Subjects: | |
| Online Access: | http://publications.muet.edu.pk/research_papers/pdf/pdf624.pdf |
| Summary: | In machine vision, occlusions problem is always a challenging issue in image based mapping and navigation
tasks. This paper presents a multiple view vision based algorithm for the development of occlusion-free
map of the indoor environment. The map is assumed to be utilized by the mobile robots within the
workspace. It has wide range of applications, including mobile robot path planning and navigation, access
control in restricted areas, and surveillance systems. We used wall mounted fixed camera system. After
intensity adjustment and background subtraction of the synchronously captured images, the image
registration was performed. We applied our algorithm on the registered images to resolve the occlusion
problem. This technique works well even in the existence of total occlusion for a longer period. |
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| ISSN: | 0254-7821 2413-7219 |