Surveyor Robotics Journal
email:
support@surveyor.com
web:
Surveyor Corporation
rss:
Subscribe
Archives
August 2010
July 2010
June 2010
May 2010
April 2010
March 2010
February 2010
January 2010
December 2009
November 2009
October 2009
September 2009
August 2009
July 2009
June 2009
May 2009
April 2009
March 2009
February 2009
January 2009
December 2008
November 2008
October 2008
September 2008
August 2008
September 2008
August 2008
July 2008
June 2008
May 2008
April 2008
March 2008
February 2008
January 2008
December 2007
November 2007
October 2007
September 2007
August 2007
July 2007
June 2007
May 2007
April 2007
March 2007
February 2007
January 2007
December 2006
November 2006
October 2006
September 2006
August 2006
July 2006
June 2006
May 2006
April 2006
March 2006
Februray 2006
January 2006
Sun, 02 Nov 2008
one more pass at color segmentation + edge detection
Code for transferring data between processors via SPI bus on the SVS (stereo vision system) is in place, so now we need to decide what data to transfer for the purpose of building basic depth maps. There is no question that we will eventually need to move toward more robust feature detectors such as SIFT or SURF, but we should be able to get useful results from the simple combination of an edge detector and basic color segmentation.
The previous robotics journal post showed an edge detector combined with a 16-color segmentation based on just 4 levels of U and 4 levels of V, but no Y component. Shown below is 16-color segmentation based on the 'vz1' filter with 4 levels of Y, 2 levels of U and 2 levels of V. Combined with the edge detector, this approach seems to provide better feature differentiation than the UV-only approach, so that is the approach we will use as a basis for correlating between left and right views, though it is easy enough to change to other segmentation schemes.
displayed using SRV1Test.java
Posted Sun, 02 Nov 2008 19:18 | HTML Link | see additional stories ...