Robot Localisation Using an Omnidirectional Colour Image

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dc.contributor.author Yuen, David en
dc.contributor.author MacDonald, Bruce en
dc.date.accessioned 2008-08-21T01:55:51Z en
dc.date.available 2008-08-21T01:55:51Z en
dc.date.issued 2000 en
dc.identifier.citation Communication and Information Technology Research Technical Report 75, (2000) en
dc.identifier.issn 1178-3670 en
dc.identifier.uri http://hdl.handle.net/2292/2707 en
dc.description You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site; http://citr.auckland.ac.nz/techreports/ under terms that include this permission. All other rights are reserved by the author(s). en
dc.description.abstract A novel approach to computational binocular stereo based on the Neyman-Pearson criterion for discriminating between statistical hypotheses is proposed. An epipolar terrain profile is reconstructed by maximising its likelihood ratio with respect to a purely random profile. A simple generative Markov-chain model of an image-driven profile that extends the model of a random profile is introduced. The extended model relates transition probabilities for binocularly and monocularly visible points along the profile to grey level differences between corresponding pixels in mutually adapted stereo images. This allows for regularising the ill-posed stereo problem with respect to partial occlusions. en
dc.publisher CITR, The University of Auckland, New Zealand en
dc.relation.ispartofseries Communication and Information Technology Research (CITR) Technical Report Series en
dc.rights Copyright CITR, The University of Auckland. You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site under terms that include this permission. All other rights are reserved by the author(s). en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.source.uri http://citr.auckland.ac.nz/techreports/2000/CITR-TR-75.pdf en
dc.title Robot Localisation Using an Omnidirectional Colour Image en
dc.type Technical Report en
dc.subject.marsden Fields of Research::280000 Information, Computing and Communication Sciences en


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