The book is intended for advanced students in physics, mathematics, computer science, electrical engineering, robotics, engine engineering and for specialists in computer vision and robotics on the techniques for the development of vision-based robot projects. It focusses on autonomous and mobile service robots for indoor work, and teaches the techniques for the development of vision-based robot projects. A basic knowledge of informatics is assumed, but the basic introduction helps to adjust the knowledge of the reader accordingly. A practical treatment of the material enables a comprehensive understanding of how to handle specific problems, such as inhomogeneous illumination or occlusion. With this book, the reader should be able to develop object-oriented programs and show mathematical basic understanding. Such topics as image processing, navigation, camera types and camera calibration structure the described steps of developing further applications of vision-based robot projects.

Dr. Stefan Florczyk, Institute for Computer Science, Munich University of Technology John Wiley & Sons 20050128 2005 01 000 01 240.0 mm 03 170.0 mm John Wiley & Sons NP 20050128 0 01 P 185.00 0764570668 03 0764570668 0764537342 BC 2048 Frommer's Complete 34 Frommer's® Bahamas 2005 1 A01 Darwin Porter Porter, Darwin Darwin Porter 2 A01 Danforth Prince Prince, Danforth Danforth Prince eng 320 TRV007000 2.3 01 You'll never fall into the tourist traps when you travel with Frommer's. It's like having a friend show you around, taking you to the places locals like best. Our expert authors have already gone everywhere you might go— they've done the legwork for you, and they're not afraid to tell it like it is, saving you time and money. No other series offers candid reviews of so many hotels and restaurants in all price ranges. Every Frommer's Travel Guide is up-to-date, with exact prices for everything, dozens of color maps, and exciting coverage of sports, shopping, and nightlife. You'd be lost without us! Completely updated every year (unlike most of the competition), Frommer's Bahamas 2005 features gorgeous color photos of the magnificent white-sand beaches, turquoise waters, and schools of brilliant tropical fish that await you. Inside you'll get complete details on the major resort areas of Nassau, Cable Beach, Paradise Island, and Freeport/Lucaya, with candid reviews of the best resorts, restaurants, casinos, and attractions. Then we'll take you to the Out Islands, where you can find the perfect place to get away from it all on a your own stretch of secluded white sands. In every destination, you'll find complete details on beaches, snorkeling, diving, deep-sea fishing, golf, and other active adventures-plus the best beach bars and the top restaurants for authentic, spicy island cuisine. Whether you want an elegant honeymoon hideaway or an affordable family resort, Frommer's Bahamas 2005 can help you plan the island getaway that's right for you. You'll even get a color fold-out map, a complete cruise guide, and tips on find the best package deals. 04 02 List of Maps. What’s New in The Bahamas. 1. The Best of The Bahamas. 2. Planning Your Trip to The Bahamas. 3. New Providence (Nassau/Cable Beach). 4. Paradise Island. 5. Grand Bahama (Freeport/Lucaya). 6. Bimini, the Berry Islands & Andros. 7. The Abaco Islands. 8. Eleuthera. 9. The Exuma Islands. 10. The Southern Bahamas. Index. As a team of veteran travel writers, Darwin Porter and Danforth Prince have produced numerous titles for Frommers, including best-selling guides to Italy, France, the Caribbean, England, and Germany. Porter, a former bureau chief of The Miami Herald, is also a Hollywood biographer, his most recent releases entitled The Secret Life of Humphrey Bogart and Katharine the Great, the latter a close-up of the private life of the late Katharine Hepburn. Prince was formerly employed by the Paris bureau of the New York Times, and is today the president of Blood Moon Productions and other media-related firms.

List of Figures.

Symbols and Abbreviations.

1 Introduction.

2 Image Processing.

2.1 Color Models.

2.2 Filtering.

2.3 Morphological Image Processing.

2.4 Edge Detection.

2.5 Skeleton Procedure.

2.6 The Segmentation of Image Regions.

2.7 Threshold.

3 Navigation.

3.1 Coordinate Systems.

3.2 Representation Forms.

3.3 Path Planning.

3.4 The Architecture of a Multilevel Map Representation.

3.5 Self-localization.

4 Vision Systems.

4.1 The Human Visual Apparatus.

4.2 The Human Visual Apparatus as Model for Technical Vision Systems.

4.3 Camera Types.

5 CAD.

5.1 Constructive Solid Geometry.

5.2 Boundary-representation Schema (B-rep).

5.3 Approximate Models.

5.4 Hybrid Models.

5.5 Procedures to Convert the Models.

5.6 The Use of CAD in Computer Vision.

5.7 Three-dimensional Reconstruction with Alternative Approaches.

6 Stereo Vision.

6.1 Stereo Geometry.

6.2 The Projection of the Scene Point.

6.3 The Relative Motion of the Camera.

6.4 The Estimation of the Fundamental Matrix B.

6.5 Image Rectification.

6.6 Ego-motion Estimation.

6.7 Three-dimensional Reconstruction by Known Internal Parameters.

6.8 Three-dimensional Reconstruction by Unknown Internal and External Parameters.

6.9 Stereo Correspondence.

6.10 Image-sequence Analysis.

6.11 Three-dimensional Reconstruction from Image Sequences with the Kalman Filter.

7 Camera Calibration.

7.1 The Calibration of One Camera from a Known Scene.

7.2 Calibration of Cameras in Robot-vision Systems.

8 Self-learning Algorithms.

8.1 Semantic Maps.

8.2 Classificators for Self-organizing Neural Networks.

9 OCR.

10 Redundancy in Robot-vision Scenarios.

10.1 Redundant Programs for Robot-vision Applications.

10.2 The Program.

10.3 The Program Flow.

10.4 Experiment.

10.5 Conclusion.

11 Algorithm Evaluation of Robot-vision Systems for Autonomous Robots.

11.1 Algorithms for Indoor Exploration.

11.2 Experiments.

11.3 Conclusion.

12 Calibration for Autonomous Video-based Robot Systems.

12.1 Camera Calibration for Indoor Exploration.

12.2 Simple Calibration with SICAST.

12.3 Experiments.

12.4 Conclusion.

13 Redundant Robot-vision Program for CAD Modeling.

13.1 New CAD Modeling Method for Robot-vision Applications.

13.2 Experiment.

13.3 Conclusion.

Bibliography.

Index.

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