| 移动机器人基于视觉室外自然场景理解的研究与进展 |
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| 引用本文： | 庄严,陈东,王伟,韩建达,王越超.移动机器人基于视觉室外自然场景理解的研究与进展[J].自动化学报,2010,36(1):1-11. |
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| 作者姓名： | 庄严 陈东 王伟 韩建达 王越超 |
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| 作者单位： | 1.大连理工大学信息与控制研究中心 大连 116024 |
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| 基金项目： | 国家高技术研究发展计划(863计划)(2007AA04Z257);;国家自然科学基金(60605023,60775048);;机器人学国家重点实验室开放课题(RLO200802)资助~~ |
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| 摘 要： | 对于工作在典型非结构化场景中的移动机器人系统, 具有良好的室外自然场景感知与理解能力是其能够自主运行的前提条件. 移动机器人使用视觉传感器来进行室外自然场景的理解一直是该领域的研究热点. 本文首先介绍了基于视觉的移动机器人自然场景理解的研究现状, 对其相关子领域的研究思路与前沿技术进行了着重论述与分析, 并从实时性和环境自适应性等方面对相关技术的实用性问题加以讨论. 最后对该领域的研究重点和技术发展趋势进行了探讨.
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| 关 键 词： | 自然场景理解 自主移动机器人 场景表达 统计建模 计算机视觉 认知学习 |
| 收稿时间： | 2009-1-6 |
| 修稿时间： | 2009-5-6 |
Status and Development of Natural Scene Understanding for Vision-based Outdoor Moblie Robot |
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| ZHUANG Yan, CHEN Dong, WANG Wei HAN Jian-Da WANG Yue-Chao.Research Center of Information , Control,Dalian University of Technology,Dalian .State Key Laboratory of Robotics,Shenyang.Status and Development of Natural Scene Understanding for Vision-based Outdoor Moblie Robot[J].Acta Automatica Sinica,2010,36(1):1-11. |
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| Authors: | ZHUANG Yan CHEN Dong WANG Wei HAN Jian-Da WANG Yue-ChaoResearch Center of Information Control Dalian University of Technology Dalian State Key Laboratory of Robotics Shenyang |
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| Affiliation: | 1.Research Center of Information and Control, Dalian University of Technology, Dalian 116024;2.State Key Laboratory of Robotics, Shenyang 110016 |
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| Abstract: | Natural scene understanding is an indispensable capability for vision-based outdoor mobile robots working in the challenging unstructured environment. The intention of this paper is to investigate the status and development of this technology, point out and analyze some cutting-edge technologies in the relevant sub-domains. Practical issues are discussed throughout the paper in terms of real-time and self-adaptation aspects. The research emphases and prospective technical development trends are also proposed at the end of this paper. |
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| Keywords: | Natural scene understanding autonomous mobile robot scene representation statistical modeling computer vision cognitive learning |
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