Visually guided obstacle detection and avoidance for legged robot.

• Other Authors: Chow, Ying-ho.
• Format: Others
• Language: English; Chinese
• Published: 2000
• Subjects: Robot vision; Robots > Control systems; Fuzzy systems
• Online Access: http://library.cuhk.edu.hk/record=b5890419; http://repository.lib.cuhk.edu.hk/en/item/cuhk-323083

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.1 === Chapter 1.1 --- Objectives - Visual Navigation for Legged Robots --- p.1 === Chapter 1.2 --- Summary of Results --- p.3 === Chapter 1.3 --- Hardware Issues --- p.4 === Chapter 1.4 --- Contributions --- p.4 === Chapter 1.5 --- Organization of the Thesis --- p.4 === Chapter Chapter 2 --- Previous Work --- p.6 === Chapter 2.1 --- Vision Based Navigation --- p.6 === Chapter 2.1.1 --- Homography --- p.7 === Chapter 2.1.2 --- Ground Plane Obstacle Detection --- p.9 === Chapter 2.1.3 --- Regression --- p.12 === Chapter 2.2 --- Control Strategy --- p.13 === Chapter Chapter 3 --- System Overview --- p.16 === Chapter Chapter 4 --- Obstacle Detection by Fast Homography Estimation --- p.20 === Chapter 4.1 --- Ground Feature Extraction --- p.21 === Chapter 4.2 --- Ground Feature Correspondence --- p.21 === Chapter 4.3 --- Ground Homography Estimation --- p.24 === Chapter 4.3.1 --- Input point transformation --- p.24 === Chapter 4.3.2 --- Initial estimation --- p.26 === Chapter 4.3.3 --- Robust estimation --- p.27 === Chapter 4.4 --- Obstacle Detection --- p.29 === Chapter 4.5 --- Local Obstacle Map (LOM) on Ground --- p.33 === Chapter 4.5.1 --- Extraction from accumulative evidence --- p.34 === Chapter 4.5.2 --- Time-delay compensation --- p.34 === Chapter Chapter 5 --- Obstacle Avoidance by a Fuzzy Controller --- p.36 === Chapter 5.1 --- Gait Pattern --- p.38 === Chapter 5.2 --- Fuzzy Logic Controller --- p.42 === Chapter 5.2.1 --- Controller Inputs --- p.42 === Chapter 5.2.2 --- Controller Outputs --- p.43 === Chapter 5.2.3 --- Inference mechanism --- p.46 === Chapter Chapter 6 --- Implementation --- p.49 === Chapter 6.1 --- Hardware components --- p.49 === Chapter 6.1.1 --- VisionBug --- p.49 === Chapter 6.1.2 --- RF transmitter / receiver modules: --- p.52 === Chapter 6.2 --- Perception --- p.55 === Chapter 6.3 --- Image Calibration --- p.56 === Chapter 6.4 --- Motion Calibration: --- p.58 === Chapter 6.5 --- Software Programs --- p.66 === Chapter 6.5.1 --- Computational complexity --- p.68 === Chapter Chapter 7 --- Experimental Results --- p.69 === Chapter 7.1 --- Real Navigation Experiments --- p.70 === Chapter 7.2 --- Error Analysis of LOM --- p.73 === Chapter Chapter 8 --- Conclusion and future work --- p.76