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Representation and Matching of Two-dimensional Curvilinear Figures Considering Curvatures and Spatial Positions
Hiroshi Katsulai
Chiba Institute of Technology, Tsudamuma 2-17-1, Narashino, Chiba, 275 Japan
Received:August 3, 1994Accepted:August 13, 1994Published:October 20, 1994
Keywords:Autonomous mobile robots, Recognition of three-dimensional environment, Matching, Stereo dynamic image sequence
Abstract
Autonomous mobile robots must visually recognize their three-dimensional environment so that they can quickly discover and avoid obstacles to their movement or find targets. In order to accomplish this objective, it is a matter of essential importance to match curvilinear segments of a two-dimensional stereo dynamic image sequence. This paper proposes a method in which what is called constant-curvature arc data, which include not only curvatures but also the relationship between spacial positions, are used for representing curves. This paper also suggests a method to match two-dimensional curves and verifies its effectiveness through experiments.
Cite this article as:H. Katsulai, “Representation and Matching of Two-dimensional Curvilinear Figures Considering Curvatures and Spatial Positions,” J. Robot. Mechatron., Vol.6 No.5, pp. 425-433, 1994.Data files:
