1989 Volume 7 Issue 3 Pages 199-209
This paper describes the representation of map and generation of perspective image for mobile robot. This map gives an environment model for already proposed mobile robot vision system for reckoning in the building environment using color image.
Requirements for the map are:
1) Map must include parameters of vertical direction to generate perspective image based on estimated robot position.
2) Map must represent connected corridors and rooms.
3) Map must represent the attributes of the door opened. Representation of map is given by S-expression like text. It consists of three lists
(a) a list for definition of primitives representing objects in the building environment.
(b) a list for definition of arrangement of primitives in a segment and for definition of segment location. A segment represents a corridor or a room.
(c) a list for indicating open angle of doors.
In a primitive definition list, a pillar primitive, a dent primitive, a door primitive, a cylinder primitive are provided for representation of objects (these are called form primitive) . A rectangular color primitive and a cylinder color primitive are provided for representation of colored part on objects and they are attached on form primitive.
Generation of perspective image from map is performed by seeking for characteristic points on the color primitive and projection of these points on the image plane with giving visual angle of the camera and robot position and direction on the map. Then colored objects are represented by trapezoids. As objects in the real image are also fitted to trapezoids in the proposed vision system, matching investigation is performed by comparison of trapezoids from map and from real image.
An experimental example of generated perspective image is also shown.
