Analysis of adaptation and environment
Artificial Intelligence - Special volume on computational research on interaction and agency, part 2
Recovering Surface Layout from an Image
International Journal of Computer Vision
3-D Depth Reconstruction from a Single Still Image
International Journal of Computer Vision
The MIT–Cornell collision and why it happened
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part III
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The impressive advances in robotic spatial reasoning over the past decade have relied primarily on rich sensory data provided by laser range finders. Relative to cameras, however, lasers are heavy, bulky, power-hungry, and expensive. This work proposes and evaluates an image-segmentation pipeline that produces range scans from ordinary webcameras. Starting with a nearest-neighbor classification of image patches, we investigate the tradeoffs in accuracy, resolution, calibration, and speed that come from estimating range-to-obstacles using only single images. Experiments atop the low-cost iRobot Create platform demonstrate the accessibility and power of this pixel-based alternative to laser scans.