Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment...Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment where the robot locates. Salient local regions are detected from these images using center-surround difference method, which computes opponencies of color and texture among multi-scale image spaces. And then they are organized using hidden Markov model (HMM) to form the vertex of topological map. So localization, that is place recognition in our system, can be converted to evaluation of HMM. Experimental results show that the saliency detection is immune to the changes of scale, 2D rotation and viewpoint etc. The created topological map has smaller size and a higher ratio of recognition is obtained.展开更多
Construction of high resolution images from low resolution sequences having rigid or semi-rigid ob-jects with unified motions is often important in surveillance and other applications.In this paper a novelobject-based...Construction of high resolution images from low resolution sequences having rigid or semi-rigid ob-jects with unified motions is often important in surveillance and other applications.In this paper a novelobject-based super resolution reconstruction scheme was proposed,in which a six-parameter affine model-based object tracking and registration method was first used to segment and match objects among a se-quence of low resolution frames.The motion model was then further extended to the traditional maximuma posterior(MAP)super resolution algorithm.The proposed object tracking and registration method wasevaluated by both simulated and real acquired sequences.The results have demonstrated the high accura-cy of the proposed object based method and the enhanced reconstruction performance of the extended ap-proach.展开更多
基金Projects(60234030 ,60404021) supported by the National Natural Science Foundation of China
文摘Based on salient visual regions for mobile robot navigation in unknown environments, a new place recognition system was presented. The system uses monocular camera to acquire omni-directional images of the environment where the robot locates. Salient local regions are detected from these images using center-surround difference method, which computes opponencies of color and texture among multi-scale image spaces. And then they are organized using hidden Markov model (HMM) to form the vertex of topological map. So localization, that is place recognition in our system, can be converted to evaluation of HMM. Experimental results show that the saliency detection is immune to the changes of scale, 2D rotation and viewpoint etc. The created topological map has smaller size and a higher ratio of recognition is obtained.
基金the National Natural Science Foundation of China(No90304001,60472036)the Beijing Natural Science Foundation(4052007)+1 种基金the National Key Lab of Communication Foundation,UEST,China(51434050105QT0101) the PolyU/UGC grants(B-Q698)
文摘Construction of high resolution images from low resolution sequences having rigid or semi-rigid ob-jects with unified motions is often important in surveillance and other applications.In this paper a novelobject-based super resolution reconstruction scheme was proposed,in which a six-parameter affine model-based object tracking and registration method was first used to segment and match objects among a se-quence of low resolution frames.The motion model was then further extended to the traditional maximuma posterior(MAP)super resolution algorithm.The proposed object tracking and registration method wasevaluated by both simulated and real acquired sequences.The results have demonstrated the high accura-cy of the proposed object based method and the enhanced reconstruction performance of the extended ap-proach.
