Vision-Based Mobile Robot Navigation Using Image Processing and Cell Decomposition
IVIC '09 Proceedings of the 1st International Visual Informatics Conference on Visual Informatics: Bridging Research and Practice
Webcam-based mobile robot path planning using Voronoi diagrams and image processing
AEE'10 Proceedings of the 9th WSEAS international conference on Applications of electrical engineering
Implementation roadmap using Voronoi diagrams for vision-based robot motion
WSEAS TRANSACTIONS on SYSTEMS
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Machine vision has been made easier by the development of computer systems capable of processing information at high speeds and by inexpensive camera-computer systems. A Camera-Computer system called SIVEDI was developed based in the shape from focusing technique (SFF) as proposed by Jenn [1] and a shape from defocusing technique (SFD) developed in this research. The SIVEDI system has as entries the images captured by the camera, the number of steps of the focus mechanism, and the user specifications. The focus mechanism used is the internal one of the camera. To control it an interface computer-camera was designed and developed. An equation is introduced to obtain the measure of relative defocus among many images. A 3D image is produced as the result of the system. SIVEDI consist of a number of modules, each one implementing a step in the system model. The modules are independent of each other and could be easily modified to improve the system. As SIVEDI was developed in MatLab environment, it can be used in any computer with this software on it. These characteristics offer the user to access the intermediate results and to control the system internal parameters. Results show that the 3D image reconstruction has an acceptable quality.