Knowledge Based Vision Guided Robots
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Knowledge-Based Vision-Guided Robots
Many robotics researchers consider high-level vision algorithms (computational) too expensive for use in robot guidance. This book introduces the reader to an alternative approach to perception for autonomous, mobile robots. It explores how to apply methods of high-level computer vision and fuzzy logic to the guidance and control of the mobile robot. The book introduces a knowledge-based approach to vision modeling for robot guidance, where advantage is taken of constraints of the robot's physical structure, the tasks it performs, and the environments it works in. This facilitates high-level computer vision algorithms such as object recognition at a speed that is sufficient for real-time navigation. The texts presents algorithms that exploit these constraints at all levels of vision, from image processing to model construction and matching, as well as shape recovery. These algorithms are demonstrated in the navigation of a wheeled mobile robot.
Knowledge-Based Vision-Guided Robots
Author: Nick Barnes
language: en
Publisher: Springer Science & Business Media
Release Date: 2002-08-06
Many robotics researchers consider high-level vision algorithms (computational) too expensive for use in robot guidance. This book introduces the reader to an alternative approach to perception for autonomous, mobile robots. It explores how to apply methods of high-level computer vision and fuzzy logic to the guidance and control of the mobile robot. The book introduces a knowledge-based approach to vision modeling for robot guidance, where advantage is taken of constraints of the robot's physical structure, the tasks it performs, and the environments it works in. This facilitates high-level computer vision algorithms such as object recognition at a speed that is sufficient for real-time navigation. The texts presents algorithms that exploit these constraints at all levels of vision, from image processing to model construction and matching, as well as shape recovery. These algorithms are demonstrated in the navigation of a wheeled mobile robot.
Fuzzy Probabilities
In probability and statistics we often have to estimate probabilities and parameters in probability distributions using a random sample. Instead of using a point estimate calculated from the data we propose using fuzzy numbers which are constructed from a set of confidence intervals. In probability calculations we apply constrained fuzzy arithmetic because probabilities must add to one. Fuzzy random variables have fuzzy distributions. A fuzzy normal random variable has the normal distribution with fuzzy number mean and variance. Applications are to queuing theory, Markov chains, inventory control, decision theory and reliability theory.