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dc.contributor.author김성호ko
dc.date.accessioned2015-12-17T02:04:48Z-
dc.date.available2015-12-17T02:04:48Z-
dc.date.created2015-11-13-
dc.date.issued201211-
dc.identifier.citationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.9-
dc.identifier.issn1729-8806-
dc.identifier.urihttp://hdl.handle.net/YU.REPOSITORY/26957-
dc.identifier.urihttp://dx.doi.org/10.5772/53872-
dc.description.abstractIn 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.-
dc.language영어-
dc.publisherINTECH -OPEN ACCESS PUBLISHER-
dc.subjectSYMMETRY-
dc.titleRobust Corner Detection by Image-Based Direct Curvature Field Estimation for Mobile Robot Navigation-
dc.typeArticle-
dc.identifier.wosid000312903500003-
dc.identifier.scopusid2-s2.0-84870417829-
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