Navigation Advice from pq-Histograms

Authors:
G. Gomez;Luis Enrique Sucar;Duncan Fyfe Gillies
Affiliations:
-;-;-
Venue:
MICAI '02 Proceedings of the Second Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence
Year:
2002

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Abstract

We propose a novel visual navigation clue based on sum-marising the local 3D information into a single structure, called pq-histogram. This structure is obtained by discretising the local orientation or [p, q] of an image, and building a two dimensional histogram. This histogram gives a global view of the 3D shape of the world, therefore it could be used for navigation. The potential application of the pq-histogram is illustrated in two domains. Firstly, semi-automatic navigation of an endoscope inside the human colon. Secondly, mobile robot navigating in certain environments, such as corridors and mines. In both cases, the method was tested with real images with very good results.