Map Database Construction and Scene Prediction for Visual Navigation
In this paper an image is used to construct a map database for an autonomous navigation system. In fact, this map image looks like an aerial image taken at a certain altitude h. The level of the pixels belonging to a static object have been set to a value proportional to the object height. The aim of this method is to provide the vision system with what would almost be the 3-D scene appearance at any given point of the map specified by the navigation task. The construction method is fully detailed; moreover, the contribution of this work to the road edge selection algorithm is investigated and compared to the Hough transform based selection. This algorithm constitutes an efficient tool for object localization and identification, and a powerful support to the road edge selection task.
Keywordsmobile robot visual navigation map construction scene prediction Hough transform
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