Abstract
We propose a novel visual navigation clue based on summarising the local 3D information into a single structure, called pqhistogram. This structure is obtained by discretising the local orientation or [p, q] of an image, and building a two dimensional histogram. This histogram gives a global view of the 3D shape of the world, therefore it could be used for navigation. The potential application of the pq-histogram is illustrated in two domains. Firstly, semi-automatic navigation of an endoscope inside the human colon. Secondly, mobile robot navigating in certain environments, such as corridors and mines. In both cases, the method was tested with real images with very good results.
Cite
CITATION STYLE
Gomez, G., Sucar, L. E., & Gillies, D. F. (2002). Navigation advice from pq-histograms. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2313, pp. 31–40). Springer Verlag. https://doi.org/10.1007/3-540-46016-0_4
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