Modeling of a Large Structured Environment: With a Repetitive Canonical Geometric-Semantic Model
2014 (English)In: Advances in Autonomous Robotics Systems: 15th Annual Conference, TAROS 2014, Birmingham, UK, September 1-3, 2014. Proceedings / [ed] Michael Mistry, Aleš Leonardis, Mark Witkowski & Chris Melhuish, Heidelberg: Springer, 2014, 1-12 p.Conference paper (Refereed)
AIMS project attempts to link the logistic requirements of an intelligent warehouse and state of the art core technologies of automation, by providing an awareness of the environment to the autonomous systems and vice versa. In this work we investigate a solution for modeling the infrastructure of a structured environment such as warehouses, by the means of a vision sensor. The model is based on the expected pattern of the infrastructure, generated from and matched to the map. Generation of the model is based on a set of tools such as closed-form Hough transform, DBSCAN clustering algorithm, Fourier transform and optimization techniques. The performance evaluation of the proposed method is accompanied with a real world experiment. ©2014 IEEE.
Place, publisher, year, edition, pages
Heidelberg: Springer, 2014. 1-12 p.
, Lecture Notes in Computer Science, ISSN 0302-9743 ; 8717
IdentifiersURN: urn:nbn:se:hh:diva-26316DOI: 10.1007/978-3-319-10401-0_1ISBN: 978-3-319-10400-3ISBN: 978-3-319-10401-0OAI: oai:DiVA.org:hh-26316DiVA: diva2:741585
15th Annual Conference, TAROS (Towards Autonomous Robotic Systems) 2014, Birmingham, United Kingdom, September 1-3, 2014
This work as a part of AIMS project, is supported by the Swedish Knowledge Foundation and industry partners Kollmorgen, Optronic, and Toyota Material Handling Europe.2014-08-282014-08-282016-10-08Bibliographically approved