Minimalistic visual navigation: = Minimalistische visuelle Navigation
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
1999
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI / 8]
739 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Zugl.: Tübingen, Univ., Diss., 1998 |
| Beschreibung: | XIV, 150 S. Ill., graph. Darst. |
| ISBN: | 3183739089 |
Internformat
MARC
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| 245 | 1 | 0 | |a Minimalistic visual navigation |b = Minimalistische visuelle Navigation |c Matthias O. Franz |
| 246 | 1 | 1 | |a Minimalistische visuelle Navigation |
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| 300 | |a XIV, 150 S. |b Ill., graph. Darst. | ||
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Datensatz im Suchindex
| _version_ | 1804127120660627456 |
|---|---|
| adam_text | FORTSCHRITT-BERICHTE VD
I
REIHE 8
MEB-
, STEUERUNGS- DIPL.-PHYS. MATTHIAS O
. FRANZ,
UND REGELUNGSTECHNIK TUBINGEN
NR. 739 | MINIMALISTIC VISUA
L
NAVIGATIO
N
MINIMALISTISCHE VISUELLE
NAVIGATION
V
CONTENT
S
LIST OF SYMBOL
S I
X
1 INTRODUCTIO
N 1
2 NAVIGATIO
N 5
2.1 THE NAVIGATION HIERARCHY 6
2.1.1 SEARCH 6
2.1.2 FOLLOWING A DIRECTION 7
2.1.3 AIMING 8
2.1.4 GUIDANCE 8
2.1.5 RECOGNITION-TRIGGERED RESPONSE 8
2.1.6 TOPOLOGICAL NAVIGATION 9
2.1.7 SURVEY NAVIGATION 10
2.2 MINIMALISTIC VISUAL NAVIGATION 11
3 TH
E ROBO
T SYSTEM
S 13
3.1 EXPERIMENTAL PLATFORMS 13
3.1.1 FIRST GENERATION: CUSTOM-BUILT PROTOTYPE FOR OFFICE ENVIRONMENTS
13
3.1.2 SECOND GENERATION: MODIFIED KHEPERA MINIATURE ROBOT 14
3.1.3 THIRD GENERATION: PIONEER BASE WITH STANDARD PC 16
3.2 IMAGE PROCESSING 17
3.3 CONTROL ARCHITECTURE 20
4 SCENE-BASE
D HOMIN
G 24
4.1 INFERRING THE GOAL DIRECTION FROM THE SURROUNDING SCENE 26
VI
CONTENT
S
4.1.1 MATHEMATICA
L DESCRIPTIO
N OF TH
E TAS
K 26
4.1.2 COMPUTATIO
N OF CORRESPONDENCE
S 27
4.1.3 ASSUMPTION
S ABOU
T DISTANC
E DISTRIBUTION
S 28
4.2 HOMIN
G WIT
H TH
E AVERAGE DISPLACEMEN
T VECTOR 29
4.2.1 DISPLACEMEN
T VECTO
R SU
M IN ISOTROPI
C ENVIRONMENT
S 29
4.2.2 ERRO
R AN
D CONVERGENCE 31
4.3 HOMIN
G WIT
H PARAMETERIZE
D DISPLACEMEN
T FIELD
S 32
4.3.1 A MATCHE
D FILTER BASED O
N TH
E EQUA
L DISTANC
E ASSUMPTIO
N ...
. 32
4.3.2 ERRO
R DU
E T
O TH
E EQUA
L DISTANC
E ASSUMPTIO
N 33
4.3.3 LIMITATIO
N OF SPATIA
L RESOLUTIO
N BY SENSOR NOISE 34
4.4 EXPERIMENT
S 36
4.4.1 COMPARISO
N T
O HONEYBE
E EXPERIMENT
S 36
4.4.2 PERFORMANC
E OF TH
E HOMIN
G SCHEME 37
4.4.3 IMPROVEMENT
S BY INDEPENDEN
T PARAMETE
R ESTIMATIO
N 39
4.4.4 ACCURAC
Y 41
4.5 DISCUSSION 43
4.5.1 SCENE-BASE
D HOMIN
G IN ANIMAL
S 43
4.5.2 COMPUTATIONA
L MODEL
S 45
4.5.3 CONCLUSIO
N 48
5 VIE
W GRAPHS 4
9
5.1 BEHAVIOURAL EVIDENCE 50
5.2 LEARNING VIEW GRAPHS 52
5.2.1 DISCRETE REPRESENTATION OF CONTINUOUS SPACE 52
5.2.2 A MINIMALISTIC SYSTEM FOR LEARNING A VIEW GRAPH 53
5.2.3 VIEW CLASSIFIER 56
5.2.4 LOCAL EXPLORATION STRATEGIES FOR GRAPH LEARNING 57
5.3 RESULTS 59
5.3.1 SIMULATED EXPLORATION 59
5.3.2 VIEW CLASSIFIER THRESHOLD 60
5.3.3 GRAPH LEARNING 62
5.3.4 METRIC KNOWLEDGE IN VIEW GRAPHS 64
5.4 DISCUSSION 66
5.4.1 RELATION T
O OTHER TOPOLOGICAL MODELS 67
5.4.2 CONCLUSION . 68
CONTENT
S
VII
6 OPTIMA
L MATCHE
D FILTER
S 71
6.1 PROCESSING OF OPTIC FLOW IN THE FLY VISUAL SYSTEM ..-. . . 74
6.2 MATCHED FILTERS FOR OPTIC FLOW PATTERN
S 75
6.2.1 EXTRACTING SELF-MOTION PARAMETERS FROM OPTIC FLOW 75
6.2.2 ESTIMATING SELF-MOTION USING MATCHED FILTERS 76
6.3 OPTIMAL MATCHED FILTERS 80
6.3.1 LOCAL PREFERRED DIRECTIONS 80
6.3.2 OPTIMAL WEIGHTS FOR SELF-MOTION ESTIMATION 81
6.4 RESULTS 83
6.4.1 WHERE TO LOOK IN OFFICE ENVIRONMENTS 83
6.4.2 PERFORMANCE IN RANDOM DOT CLOUDS : 87
6.4.3 PERFORMANCE ON A MOBILE ROBOT 89
6.4.4 VISUAL PATH INTEGRATION 93
6.5 DISCUSSION 94
6.5.1 LIMITATIONS OF THE APPROACH 95
6.5.2 VISUAL PAT
H INTEGRATION 96
6.5.3 RELATION T
O OTHER MATCHED FILTER APPROACHES 97
6.5.4 CONCLUSION 98
7 COUPLIN
G METRI
C INFORMATIO
N AN
D VIE
W GRAPHS 100
7.1 COUPLING OF METRIC AND VIEW-BASED INFORMATION IN INSECTS 101
7.2 SUPPLEMENTING VIEW-BASED NAVIGATION BY VECTORS
102
7.2.1 SCENE-BASED HOMING AND PAT
H INTEGRATION
102
7.2.2 METRIC VIEW GRAPHS 103
7.2.3 SURVEY NAVIGATION USING VECTOR CHAINS 105
7.3 IMPROVEMENTS OF THE CURRENT SYSTEM
107
8 CONCLUDIN
G REMARK
S 108
8.1 SUMMARY 108
8.2 PERSPECTIVES FOR FUTURE PROJECTS 109
A TANGENTIAL NEURON
S AND MATCHE
D FILTER
S 111
A.I TANGENTIAL NEURONS 112
A.2 WORLD MODEL
113
A.3 RESULTS 115
A.3.1 COMPARISON TO RECEPTIVE FIELDS OF SINGLE VS-NEURONS 115
A.3.2 COMPARISON TO ENSEMBLES OF VS-NEURONS 119
A.4 DISCUSSION 121
VIII
CONTENT
S
A.4.1 THE FUNCTIONAL ROLE OF VS-NEURONS 122
A.4.2 MODEL ASSUMPTIONS AND APPROXIMATIONS 123
A.4.3 CONCLUSION 124
B ADAPTING VISION SYSTEMS TO IMAGE STATISTICS 126
B.I SPATIOTEMPORAL STATISTICS OF NATURAL MOVIES 127
B.2 WIENER FILTERS 129
B.3 INFOMAX FILTERS 131
B.4 ADAPTING REICHARDT DETECTORS 134
B.5 AUTOMATIC GENERATION OF VISION SYSTEMS 136
BIBLIOGRAPHY 138
|
| any_adam_object | 1 |
| author | Franz, Matthias O. |
| author_facet | Franz, Matthias O. |
| author_role | aut |
| author_sort | Franz, Matthias O. |
| author_variant | m o f mo mof |
| building | Verbundindex |
| bvnumber | BV012478522 |
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| classification_tum | VER 670d FER 986d MSR 323d BIO 782d |
| ctrlnum | (OCoLC)45509794 (DE-599)BVBBV012478522 |
| discipline | Biologie Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik Verkehrstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV012478522 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T18:28:18Z |
| institution | BVB |
| isbn | 3183739089 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008469748 |
| oclc_num | 45509794 |
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| owner_facet | DE-91 DE-BY-TUM DE-210 DE-83 DE-11 |
| physical | XIV, 150 S. Ill., graph. Darst. |
| publishDate | 1999 |
| publishDateSearch | 1999 |
| publishDateSort | 1999 |
| publisher | VDI-Verl. |
| record_format | marc |
| series2 | Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI / 8] |
| spelling | Franz, Matthias O. Verfasser aut Minimalistic visual navigation = Minimalistische visuelle Navigation Matthias O. Franz Minimalistische visuelle Navigation Als Ms. gedr. Düsseldorf VDI-Verl. 1999 XIV, 150 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI / 8] 739 Zugl.: Tübingen, Univ., Diss., 1998 Maschinelles Sehen (DE-588)4129594-8 gnd rswk-swf Navigation (DE-588)4041457-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Navigation (DE-588)4041457-7 s DE-604 Maschinelles Sehen (DE-588)4129594-8 s 8] Verein Deutscher Ingenieure: [Fortschritt-Berichte VDI 739 (DE-604)BV000882482 739 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008469748&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Franz, Matthias O. Minimalistic visual navigation = Minimalistische visuelle Navigation Maschinelles Sehen (DE-588)4129594-8 gnd Navigation (DE-588)4041457-7 gnd |
| subject_GND | (DE-588)4129594-8 (DE-588)4041457-7 (DE-588)4113937-9 |
| title | Minimalistic visual navigation = Minimalistische visuelle Navigation |
| title_alt | Minimalistische visuelle Navigation |
| title_auth | Minimalistic visual navigation = Minimalistische visuelle Navigation |
| title_exact_search | Minimalistic visual navigation = Minimalistische visuelle Navigation |
| title_full | Minimalistic visual navigation = Minimalistische visuelle Navigation Matthias O. Franz |
| title_fullStr | Minimalistic visual navigation = Minimalistische visuelle Navigation Matthias O. Franz |
| title_full_unstemmed | Minimalistic visual navigation = Minimalistische visuelle Navigation Matthias O. Franz |
| title_short | Minimalistic visual navigation |
| title_sort | minimalistic visual navigation minimalistische visuelle navigation |
| title_sub | = Minimalistische visuelle Navigation |
| topic | Maschinelles Sehen (DE-588)4129594-8 gnd Navigation (DE-588)4041457-7 gnd |
| topic_facet | Maschinelles Sehen Navigation Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008469748&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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