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Información general |
| Autor |
Kim, Sungho |
| Publicado |
InTech Open Access Publisher, 2012
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| 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 (intensitybased)
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. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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