کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1712953 1013210 2008 7 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
On parametric approach of aerial robots' visual navigation
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
On parametric approach of aerial robots' visual navigation
چکیده انگلیسی
In aerial robots' visual navigation, it is essential yet very difficult to detect the attitude and position of the robots operated in real time. By introducing a new parametric model, the problem can be reduced from almost unmanageable to be partly solved, though not fully, as per the requirement. In this parametric approach, a multi-scale least square method is formulated first. By propagating as well as improving the parameters down from layer to layer of the image pyramid, a new global feature line can then be detected to parameterize the attitude of the robots. Furthermore, this approach paves the way for segmenting the image into distinct parts, which can be realized by deploying a Bayesian classifier on the picture cell level. Comparison with the Hough transform based method in terms of robustness and precision shows that this multi-scale least square algorithm is considerably more robust to noises. Some discussions are also given.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of Systems Engineering and Electronics - Volume 19, Issue 5, August 2008, Pages 1010-1016
نویسندگان
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