Stefan Florczyk
Robot Vision
Video-based Indoor Exploration with
Autonomous and Mobile Robots
Author
Dr. Stefan Florczyk
Munich University of Technology
Institute for Computer Science
Cover Picture
They’ll Be More Independent, Smarter and More
Responsive
Siemens AG, Reference Number: SO CT 200204
&
All books published by Wiley-VCH are carefully pro-
duced. Nevertheless, authors, editors, and publisher
do not warrant the information contained in these
books, including this book, to be free of errors.
Readers are advised to keep in mind that statements,
data, illustrations, procedural details or other items
may inadvertently be inaccurate.
Library of Congress Card No.:
applied for
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the
British Library.
Bibliographic information published by
Die Deutsche Bibliothek
Die Deutsche Bibliothek lists this publication in the
Deutsche Nationalbibliografie; detailed bibliographic
data is available in the Internet at
<http://dnb.ddb.de>.
2005 WILEY-VCH Verlag GmbH & Co. KGaA,
Weinheim
All rights reserved (including those of translation
into other languages). No part of this book may be
reproduced in any form – nor transmitted or trans-
lated into machine language without written permis-
sion from the publishers. Registered names, trade-
marks, etc. used in this book, even when not
specifically marked as such, are not to be considered
unprotected by law.
Printed in the Federal Republic of Germany.
Printed on acid-free paper.
Typesetting Khn & Weyh, Satz und Medien,
Freiburg
Printing betz-druck GmbH, Darmstadt
Bookbinding Litges & Dopf Buchbinderei GmbH,
Heppenheim
ISBN 3-527-40544-5
Dedicated to my parents
VII
List of Figures XI
Symbols and Abbreviations XV
1 Introduction 1
2 Image Processing 9
2.1 Color Models 10
2.2 Filtering 11
2.2.1 Kalman Filter 11
2.2.2 Gabor Filter 13
2.2.3 Application of the Gabor Filter 16
2.3 Morphological Image Processing 22
2.3.1 The Structuring Element 22
2.3.2 Erosion 23
2.3.3 Dilation 23
2.4 Edge Detection 24
2.5 Skeleton Procedure 28
2.6 The Segmentation of Image Regions 28
2.7 Threshold 29
3 Navigation 33
3.1 Coordinate Systems 33
3.2 Representation Forms 36
3.2.1 Grid-based Maps 36
3.2.2 Graph-based Maps 37
3.3 Path Planning 38
3.3.1 Topological Path Planning 38
3.3.2 Behavior-based Path Execution 39
3.3.3 Global Path Planning 39
3.3.4 Local Path Planning 40
3.3.5 The Combination of Global and Local Path Planning 40
Contents
Robot Vision: Video-based Indoor Exploration with Autonomous and Mobile Robots. Stefan Florczyk
Copyright 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim
ISBN: 3-527-40544-5
VIII
3.4 The Architecture of a Multilevel Map Representation 42
3.5 Self-localization 43
4 Vision Systems 47
4.1 The Human Visual Apparatus 47
4.1.1 The Functionality 47
4.1.2 The Visual Cortex 48
4.2 The Human Visual Apparatus as Model for Technical Vision
Systems
49
4.2.1 Attention Control 50
4.2.2 Passive Vision 51
4.2.3 Active Vision 51
4.2.4 Space-variant Active Vision 52
4.3 Camera Types 53
4.3.1 Video Cameras 53
4.3.2 CCD Sensors 53
4.3.3 Analog Metric Cameras 55
5 CAD 57
5.1 Constructive Solid Geometry 57
5.2 Boundary-representation Schema (B-rep) 58
5.3 Approximate Models 59
5.3.1 Octrees 60
5.3.2 Extended Octrees 60
5.3.3 Voxel Model 61
5.4 Hybrid Models 62
5.5 Procedures to Convert the Models 62
5.6 The Use of CAD in Computer Vision 63
5.6.1 The Approximation of the Object Contour 64
5.6.2 Cluster Search in Transformation Space with Adaptive Subdivision 66
5.6.3 The Generation of a Pseudo-B-rep Representation from Sensor Data 71
5.7 Three-dimensional Reconstruction with Alternative Approaches 74
5.7.1 Partial Depth Reconstruction 74
5.7.2 Three-dimensional Reconstruction with Edge Gradients 75
5.7.3 Semantic Reconstruction 77
5.7.4 Mark-based Procedure 83
6 Stereo Vision 87
6.1 Stereo Geometry 87
6.2 The Projection of the Scene Point 90
6.3 The Relative Motion of the Camera 92
6.4 The Estimation of the Fundamental Matrix B 93
6.5 Image Rectification 95
6.6 Ego-motion Estimation 97
6.7 Three-dimensional Reconstruction by Known Internal Parameters 98
Contents
