Inertial Information on Artificial Vision and Mobile Robots Identifying the ground plane
نویسنده
چکیده
........................................................................................................................................... 2 INTRODUCTION .................................................................................................................................. 3 INERTIAL SENSORS ........................................................................................................................... 5 A PROTOTYPE OF AN INERTIAL SYSTEM .................................................................................. 7 ACCELEROMETERS ............................................................................................................................... 7 GYROMETERS....................................................................................................................................... 7 CLINOMETERS....................................................................................................................................... 8 THE FLUXGATE COMPASS..................................................................................................................... 8 THE PROCESSING HARDWARE .............................................................................................................. 8 SYSTEM GEOMETRY ....................................................................................................................... 10 IDENTIFYING THE GROUND PLANE........................................................................................... 12 CLINOMETER GIVES THE GROUND PLANE ORIENTATION...................................................................... 12 FIXING A POINT IN THE IMAGE GIVES PLANE ........................................................................................ 12 SEGMENTATION OF GROUND PLANE .................................................................................................... 13 GROUND POINT COMPUTATION ........................................................................................................... 14 RESULTS............................................................................................................................................. 15 CONCLUSIONS................................................................................................................................... 16 REFERENCES ..................................................................................................................................... 17 Inertial Information on Artificial Vision and Mobile Robots
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