X Vision: a portable substrate for real-time vision applications
Computer Vision and Image Understanding
Computational principles of mobile robotics
Computational principles of mobile robotics
Geometric Camera Calibration Using Circular Control Points
IEEE Transactions on Pattern Analysis and Machine Intelligence
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In this paper, we present a general-purpose vision system developed for a variety of robots. The vision system provides a common interface for extracting visual information from the robots' surroundings. The vision system consists of a computer vision library and Property Service, which is a distributed software architecture. The vision system can be easily utilized by robots with differing capabilities. The extracted information is then presented using markers, a common description format. We demonstrate and evaluate the vision system on two diverse mobile robots.