Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.1/6999
Título: Biologically Inspired Vision for Indoor Robot Navigation
Autor: Saleiro, Mário
Tersic, K.
Lobato, D.
Rodrigues, J. M. F.
du Buf, J. M. H.
Data: 10-Out-2014
Editora: Springer
Resumo: Ultrasonic, infrared, laser and other sensors are being applied in robotics. Although combinations of these have allowed robots to navigate, they are only suited for specific scenarios, depending on their limitations. Recent advances in computer vision are turning cameras into useful low-cost sensors that can operate in most types of environments. Cameras enable robots to detect obstacles, recognize objects, obtain visual odometry, detect and recognize people and gestures, among other possibilities. In this paper we present a completely biologically inspired vision system for robot navigation. It comprises stereo vision for obstacle detection, and object recognition for landmark-based navigation. We employ a novel keypoint descriptor which codes responses of cortical complex cells. We also present a biologically inspired saliency component, based on disparity and colour.
Peer review: yes
URI: http://hdl.handle.net/10400.1/6999
DOI: https://dx.doi.org/10.1007/978-3-319-11755-3_52
ISBN: 978-3-319-11754-6
Aparece nas colecções:FCT2-Artigos (em revistas ou actas indexadas)

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