Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
Published on Nov 17, 2010
The aim of the research is to develop a control algorithm for mobile platform exploring the unknown environment. Autonomous mobile platform is equipped with a stereo vision camera Bumblebee2, which is the only source of information about the surrounding environment. Obstacle map is built based on the disparity images . To determine the motion path algorithm proposed in  was used. Estimation of the platform motion is performed by corner tracking in successive images. The corners are determined by an algorithm . Corners are tracked by cvCalcOpticalFlowPyrLK function from the OpenCV library . Rejection of incorrect solutions is provided by the RANSAC algorithm .
 C. Y. Lee, „An algorithm for path connection and its applications", IRE Trans. on Electronic Computers, Vol. EC-10, No. 3, 346-365, 1961.  Rosten E., Drummond T."Machine learning for high-speed corner detection", European Conference on Computer Vision: 430-443, 2006.  Jean-Yves Bouguet "Pyramidal Implementation of the Lucas Kanade Feature Tracker Description of the algorithm", http://robots.stanford.edu/cs223b04/a... (last visited November 2010).  Fischler M., Bolles R., "Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography", Communcations of the ACM, 24(6): 381--395, 1981.