Natural Object Recognition [Paperback]

Natural Object Recognition presents a totally new approach to the automation of scene understanding. Rather than attempting to construct highly specialized algorithms for recognizing physical objects, as is customary in modern computer vision research, the application and subsequent evaluation of large numbers of relatively straightforward image processing routines is used to recognize natural features such as trees, bushes, and rocks. The use of contextual information is the key to simplifying the problem to the extent that well understood algorithms give reliable results in ground-level, outdoor scenes.Natural Object Recognition presents a totally new approach to the automation of scene understanding. Rather than attempting to construct highly specialized algorithms for recognizing physical objects, as is customary in modern computer vision research, the application and subsequent evaluation of large numbers of relatively straightforward image processing routines is used to recognize natural features such as trees, bushes, and rocks. The use of contextual information is the key to simplifying the problem to the extent that well understood algorithms give reliable results in ground-level, outdoor scenes.1 Introduction.- 1.1 Motivation.- 1.2 Issues.- 1.3 Contribution.- 1.4 Example of results.- 2 Natural Object Recognition.- 2.1 Visual capabilities for autonomous robots.- 2.2 Related research.- 2.2.1 Recognizing objects.- 2.2.2 Recognizing natural scenes.- 2.3 Limitations of current machine-vision technology.- 2.3.1 Shape.- 2.3.2 Universal partitioning.- 2.3.3 Contextual knowledge.- 2.3.4 Computational complexity.- 2.4 Key ideas.- 2.4.1 Context-limited vision.- 2.4.2 Global consistency.- 2.4.3 Candidate comparison to control complexity.- 2.4.4 Layered partitions.- 2.5 Experimental results.- 2.6 Conclusions.- 3 A Vision System for off-Road Navigation.- 3.1 Task scenario.- 3.2 Prior knowledge.- 3.3 The role of geometry.- 3.3.1 Sourlı