Robust Corner Detection by Image-Based Direct Curvature Field Estimation for Mobile Robot Navigation

Title
Robust Corner Detection by Image-Based Direct Curvature Field Estimation for Mobile Robot Navigation
Author(s)
김성호
Keywords
SYMMETRY
Issue Date
201211
Publisher
INTECH -OPEN ACCESS PUBLISHER
Citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.9
Abstract
In this paper, a novel corner detection method is presented, to extract geometrically important corners for robot applications, such as indoor mobile robot navigation or manipulation. Intensity-based corner detectors, such as the Harris corner, can detect corners in noisy environments, but have inaccurate corner positions and miss the corners of obtuse angles. Edge-based corner detectors, such as the Curvature Scale Space, can detect structural corners, but show unstable corner detection due to incomplete edge detection in noisy environments. The proposed image-based direct curvature estimation can overcome limitations in both the inaccurate structural corner detection of the Harris corner detector (intensity-based) and the unstable corner detection of the Curvature Scale Space, caused by incomplete edge detection. Various experimental results validate the robustness of the proposed method.
URI
http://hdl.handle.net/YU.REPOSITORY/26957http://dx.doi.org/10.5772/53872
ISSN
1729-8806
Appears in Collections:
공과대학 > 전자공학과 > Articles
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