Feature Extraction Learning for Stereovision Based Robot Navigation System

Rajpurohit, Vijay S and Pai, Manohara M.M. (2006) Feature Extraction Learning for Stereovision Based Robot Navigation System. In: International Conference on Advanced Computing and Communications, 2006. ADCOM 2006. , 20-23 Dec. 2006, Surathkal.

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Stereovision based systems represent the real-world information in the form of a gray scale image known as Depthmap with intensity of each pixel representing the distance of that pixel from the cameras. For static indoor environment where the surface is smooth, the ground information remains constant and can be removed to locate and identify the boundaries of the obstacles of interest in a better way. This paper proposes a novel approach for ground surface removal using a trained Multi layer Neural Network and a novel object-clustering algorithm to reconstruct the objects of interest from the Depth-map generated by the stereovision algorithm. Histogram analysis and the object reconstruction algorithm are used to test the results.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Stereo Vision, Depth-map, Scene Classification, Ground Surface Removal, Object Reconstruction Algorithm, Multi Layer Neural Network
Subjects: Engineering > MIT Manipal > Computer Science and Engineering
Engineering > MIT Manipal > Information and Communication Technology
Depositing User: MIT Library
Date Deposited: 16 Aug 2012 09:19
Last Modified: 16 Aug 2012 09:19
URI: http://eprints.manipal.edu/id/eprint/77040

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