Real-time vison system for mobile robotics by cie

> 65101/164 :45'/4 #$13#513: 045+5651 62'3+13 &' 0)'0*#3+# &1 1351 156)#. <*4+.7# ,/# ..+/# #/#35+04 '#24 #02= .4# +4'2 +22 25

*+4 2#2'3 &'4%3+$'4 # 3'#. 5+/' 7+4+10 #3%*+5'%563' (13 /1$+.' 31$15+%4 5 +4 +05')3#5'& +0 5*' 3'4'#3%* 231)3#/ 10 /1$+.' 31$15+%4 263 46'& #5 5*' 65101/164 :45'/4 #$ *' +/2.'/'05'& #3%*+5'%563' +4 %*#3#%5'3+;'& $: .18 %1/265#5+10#. %145 .18 .#5'0%: .18 218'3 *+)*.: /1&6.#3+5: %10(+)63#$+.+5: #&#25#$+.+5: #0& 4%#.#$+.+5: 0'8 /'5*1& 64+0) 360 .'0)5* '0%1&+0) %1.163 53#04+ 5+10 #..184 3'#. 5+/' '&)' &'5'3/+0#5+10 #5 .18 %1/265#5+10#. %145 2+2'.+0' 4536%563' (635*'3 3'&6%'4 .#5'0%: #0& #..184 # 2#3#..'.'& *#3&8#3' +/2.'/'05#5+10 &'&+%#5'& *#3&8#3' 7+4+10 4'0413 8#4 &'7'.12'& +0 13&'3 51 5#-' #&7#05#)' 1( 5*' 231214'& #3%*+5'%563' *' 3'#. 5+/' %*#3#%5'3+45+%4 #0& *#3&8#3' 2#35+#. +/2.'/'05#5+10 %162.'& 8+5* .18 '0'3): %1046/25+10 #&&3'44 5:2+%#. 1( #65101/164 4:45'/4 #22.+%#5+104

65101/164 /1$+.' 31$154 +/#)' 231%'44+0) 3'#. 5+/' 4:45'/ 2+2'.+0'& 231%'44+0) 7+4+10

35+(+%+#. 7+4+10 4:45'/4 #3' -': '.'/'054 +0 31$15+%4 0#7+)#5+10 #0& .1%#.+;#5+10 4:45'/4 *+4 +4 &6' 51 5*'+3 )3'#5 4'04+0) %#2#$+.+5+'4 #0& .18 %145 *' (1..18+0) 2#2'3 &'4%3+$'4 # +05'..+)'05 3'#. 5+/' 7+4+10 4:45'/ #3%*+5'%563' 8+5* # /1$+.' 31$15+%4 4%'0#3+1 +0 /+0& *' 23'4'05'& +/2.'/'05'& #3%*+5'%563' *#4 .18 %1/265#5+10#. %145 .18 .#5'0%: .18 218'3 *+)*.: /1&6.#3+5: %10(+)63#$+.+5: #&#25#$+.+5: #0& 4%#.#$+.+5: *' #3%*+5'%563' #..184 2+2'.+0' 231%'44+0) 8+5* /1&6.'4 *#3&8#3' +/# 13 41(58#3' +/2.'/'05'& .5*16)* 8+5* 5*' 1$1%62 4%'0#3+1 *#4 # $'0%*/#3- 4%'0#3+1 #0& 5*' ' 1351 5'#/ ./'+&# #4 # +0+5+#. #22.+%#5+10 5*' 4:45'/ +4 &'4+)0'& 51 $' 64'& +0 #.. -+0&4 1( #65101/164 4:45'/4 .#0& #+3 13 4'# &'&+%#5'& *#3&8#3' 7+4+10 4:45'/ 4'0413 8#4 &'7'.12'& +/2.'/'05+0) 2#35 1( 5*' 17'3#.. 7+4+10 #3%*+5'%563' *'3' *#4 $''0 # %105+06164 53'0& 51 5*' &'7'.12/'05 1( 7+4+10 4:45'/4 (13 /1$+.' 31$154 4+0%' 5*' 64' 1( #%5+7' 7+4+10 4:45'/4 /1605'& +0 2#0 5+.5 *'#&4 #+ '+) 51 5*' 64' 1( 3'#. 5+/' *6/#0 53#%-+0) /'5*1&4 (13 #65101/164 /1$+.' 31$154 1+ *' 7+4+10 4:45'/4 #3' *#7+0) 51 &'#. 8+5* # /13' #0&

/13' %1/2.'9 #0& &:0#/+% '07+310/'054 8*+%* 8+.. .'#& 51 5*' '92#04+10 #0& 3'(+0'/'05 1( 5*' +/#)' 231%'44+0) #.)13+5*/4 #0& 5*'+3 *#3&8#3' '/$'&&'& +/2.'/'05#5+10 635*'3/13' # 0'8 #0& +0017#5+7' 41.65+10 51 '&)' +&'05+(+%#5+10 $#4'& 10 5*' 015+10 1( 360 .'0)5* '0%1&+0) 53#04+5+10 8+.. $' 23'4'05'&

*' #3%*+5'%563' +4 &'7'.12'& +0 # 8#: 5*#5 5*' &#5# (.18 813-4 #4 +0 # 2+2'.+0' 8*'3' 41/' .#:'34 %#0 $' *#3&8#3' 13 41(58#3' +/2.'/'05'& *' 4:45'/ 8#4 #.41 &'7'.12'& +0 # 8#: 5*#5 #4 &#5# +4 231%'44'& 5*'3' +4 # &'%3'#4' 10 5*' &#5# 4+;' #0& # +0%3'#4' +0 5*' +0(13/#5+10 #$453#%5+10 5*64 /145 *'#7+'45 231%'44+0) +4 &10' +0 5*' $1551/ .#:'34

#5# 4+;' +0 5*' 4:45'/ 2+2'.+0'

65101/164 '*+%.'4 +0 8*+%* 5*' 3'#. 5+/' 7+4+10 4:45'/ *#4 $''0 +05')3#5'& 10 512 5*' '#/ 1( 1$1%62 ' 1351 #0& 10 5*' .'(5 $1551/ 5*' #0& 10 5*' 3+)*5 $1551/ 5*' #65101/164 463(#%' 7'*+%.'

! "

635*'3/13' #0: 15*'3 5:2' 1( 4')/'05#5+10 /'5*1& +4 45+.. 7#.+& #0& &6' 51 4:45'/ /1&6.#3+5: #0& %#0 $' +/2.'/'05'& 10.: %*#0)+0) 5*' 4')/'05#5+10 /1&6.' (5'3 5*#5 5*' 2+9'.4 8+5* %1.163 +0(13/#5+10 8+.. $' %1/23'44'& 64+0) *+4 %1/23'44+10 /'5*1& +4 64'& &6' 51 +4 '(('%5+7'0'44 +0 %104'37+0)

: @45? C;>7 C1 <>1?1:@10 - >1-8 @591 B5?5;: ?E?@19 01B18;<10 5: A@;:;9;A? $E?@19 -.;>-@;>E $ " "" 2;> 9;.581 >;.;@5/? -<<85/-@5;:? %41 <>1?1:@10 ->/45@1/@A>1 -88;C? 8-@1:/E >10A/@5;: 5: ?1:?;> 0-@- >1/1<@5;: '1>E 8;C <;C1> /;:?A9<@5;: ?;8A@5;:? /-: .1 5:@13>-@10 $E?@19 ;>3-:5F-@5;: -88;C? 4->0C->1 -:0 ?;2@C->1 @>-:?<->1:@ ?;8A@5;:? 59<8191:@-@5;: 0105/-@10 4->0C->1 B5?5;: ?1:?;> C-? 01B18;<10 @; 59<8191:@ @41 9;>1 @591 /;:?A95:3 <>;/1??5:3 ?@1<? @-75:3 -0B-:@-31 ;2 59-31 5:2;>9-@5;: <->-88185?9 4534 <1>2;>9-:/1 <>;3>-99-.81 8;35/ 01B5/1 " C-? A?10 @; <>;/1?? 0-@- 2>;9 - !$ ?1:?;> /-<-.81 ;2 ' >1?;8A@5;:? -@ 2<? %45? ?1:?;> /-: A?1 05221>1:@ 59-31 ?1:?;>? -:0 /A>>1:@8E ;:1 C5@4 <5D18? 5? A:01> 01B18;<91:@ ";C1> /;:?A9<@5;: >10A/@5;: C-? ?53:525/-:@ .15:3 <;??5.81 :;C @; ?1391:@ -:0 /;9<>1?? 59-31 2;> 81?? @4-: ( :1C -:0 5::;B-@5B1 ?;8A@5;: @; 1031 501:@525/-@5;: .-?10 ;: @41 :;@5;: ;2 # @>-:?5@5;: C-? 59<8191:@10 %45? ?;8A@5;: 59<>;B1? @;<;8;35/-8 59-31 5:2;>9-@5;: -:0 -88;C? 1031 01@1/@5;: 5: >1-8 @591 -:0 C5@4;A@ @;@-8 59-31 <>;/1??5:3 :2;>9-@5;: /;41>1:/1 5? 9-5:@-5:10 @4>;A34 05221>1:@ 81B18? ;2 -.?@>-/@5;: 5: @41 ->/45@1/@A>1 C5@4 <8A33-.81 9;0A81 5:@13>-@5;: %41 B5?5;: ->/45@1/@A>1 <>;B5010 /81-> -0B-:@-31? @; 9;.581 >;.;@ :-B53-@5;: 0A1 @; 1:4-:/10 <>1/5?5;: 5: @19<;>-8 59-31 /4->-/@1>5F-@5;:

$! 3/@7<5 ;3/AC@3A 03BE33< / @=0=B /<2 / 5=/: >=AB 7< 235@33A

%41 ;-'5?@- <>;61/@ >1?1->/4 H G 105/-@10 '5?5;: $E?@19 2;> A@;:;9;A? ;.581 #;.;@ -B53-@5;:I C-? ?<;:?;>10 .E A:0-ML; 5N:/5- %1/:;8;35- % >121>N:/5- "!$ #! !

89150- ->@5:? $58B- -<@5?@- "-@-/4; 59- 1>=A15>- '

$! "=@;/: >@=0/07:7BG 27AB@70C7B7=< 4C<1B7=<

89150- "5/-? # G $1";>@; #;.;@5/ $;//1> %1-9 2;> #;.;/A< I : #;.; A< :@ $E9<;?5A9 "-0A- @-8E >A/1 -8/4 % '18;?; -?@ -:0 :1D<1:?5B1 ;8;> 9-31 $1391:@-

@5;: 2;> :@1>-/@5B1 #;.;@? #$ :@1>:-@5;:-8 ;:2 !: :@188531:@ #;.;@?

< '/0:3 7A A6=E< B63 /;=C<B =4 /D3@/53 1=;>CB/B7=</: @3A=C@13A @3?C7@32 B= >@=13AA / A7<5:3 4@/;3 *7B6 B63 6/@2E/@3 D7A7=< AGAB3; /1?C7@7<5 /B 67563@ @3A=:CB7=< F B63 5:=0/: 7;/53 >@=13AA7<5 7A AB7:: ;7<=@ B6/< E7B6 B63 A=4BE/@3 A=:CB7=< F

-:0 $E?@19? >;C:5:3 '18;?; #1-8 %591 0-<@5B1 ;8;> .-?10 #;.;@ '5?5;: : ">;/1105:3? ;2 #!$ ;5 -7-75@- ;75 ) -?459;@; $ #1-8 %591 '5?5;: $E?@19 2;> -A@;:;9;A? 9;.581 >;.;@5/? : :@1>:-@5;:-8 (;>7?4;< ;: #;.;@ -:0 A

=;>/@7A=< =4 B63 1=;>CB/17=</: 1=AB =4 B63 27443@3<B AGAB3; ;=2C:3A 03BE33< / 6/@2E/@3 A3<A=@ >:CA A=4BE/@3 7;>:3;3<B/B7=< =@ =<:G A=4BE/@3 A=:CB7=<

# #

! " #

A:0184-:?1: #;6-? # %>-/75:3 >135;:? -:0 1031? .E ?45>5:75:3 -:0 ! ""

/@2E/@3 D7A7=< AGAB3;

F &=4BE/@3 F

9-: :@1>-/@5;: ;99A:5/-@5;:

3>;C5:3 : ;9<A@1> '5?5;: (5:@1> (;>7?4;< '(( 1-@4 $->7-> $ $-:;/75 % ;CE1> ;9<->5?;: ;2 1031 01@1/@;>? : ;9<A@1> '5?5;: -:0 "-@@1>: #1/;3:5@5;: -5 * A5 ) 5:0;:3 -?@ -:0 #;.A?@ '5?5;: $E?@19 2;> A@;:;9;A? ;.581 #;.;@? : ">;/1105:3? ;2 :@188531:@ ;:21>1:/1 ;: #;.;@5/? :@18

8531:@ $E?@19? -:0 9-31 ">;/1??5:3 45:- 59- 89150- ->@5:? $58B- 1B18;<91:@ ;2 - 0105/-@10 4->0C->1 B5?5;: ?E?@19 2;> 9;.581 >;.;@ :-B53-@5;: $A.995@10 >;.;@5/-

5:@1>:-@5;:-8 /;:21>1:/1

#<3 =4 B63 07553AB /2D/<B/53A =4 B63 6/@2E/@3 7;>:3;3<B/B7=< 7A B63 @32C132 :/B3<1G E63< 1=;>/@32 B= B63 A=4BE/@3 7;>:3;3<B/B7=< A33 B/0:3

'67A 7A 2C3 B= B63 A=4BE/@3 7;>:3;3<B/B7=< CA3 =4 7;/53 1=;>@3AA7=< 4=@ 27A>/B167<5 7;/53 2/B/ B= B63 (& 1=<<31B7=<

$3775 &9@79/3E *7:93A ! /E/;C@/ $3B3@A < /1B7D3 D7A7=< AGAB3; 4=@ !=07:3 %=0=BA < %=E3 %=A3<03@5 "=C@0/96A6 =E =AB ;032232 =:=@ )7A7=< &GAB3; < $@=13327<5A =4 %#& *7:A=< % /<1=19 % C= $/BB3@< )31B=@A 4@=; :530@/71 @/>6

/B3<1G 1=;>/@7A=< 03BE33< B63 6/@2E/@3 /<2 A=4BE/@3 7;>:3;3<B/B7=<A

+ ,

/@2E/@3 )7A7=< &GAB3;

&=4BE/@3 AB/<2/@2 (& 1/;

'63=@G B@/<A/1B7=<A =< $/BB3@< </:GA7A /<2 !/167<3 <B3::753<13 D=: <M C:G

# % ' $ ! $)$% !# ! #! !% $