Mobile robot control for composition of seamless and high-resolution images in library

Ryuichi Ueda; Toshio Moriya; Chomchana Trevai; Tamio Arai

doi:10.1117/12.526286

21 May 2004 Mobile robot control for composition of seamless and high-resolution images in library

Ryuichi Ueda, Toshio Moriya, Chomchana Trevai, Tamio Arai

Proceedings Volume 5299, Computational Imaging II; (2004) https://doi.org/10.1117/12.526286
Event: Electronic Imaging 2004, 2004, San Jose, California, United States

Abstract

We are developing an assistant robot system for administration of a library. In this system, an autonomous mobile robot obtains images with a camera, and composes seamless and high-resolution images of a bookshelf by using mosaicing and super-resolution techniques. In this paper, we propose a control method for the robot in front of a bookshelf as a part of this system. To obtain images that are suitable for mosaicing, a robot should take images from the same distance and orientation to a bookshelf. Our control method utilizes horizontal edges, which are detected easily in any bookshelf. The robot modifies its orientation with the edge in camera images. We implemented a super-resolution and mosaicing algorithm. Our implementation is simple. However, it can compose a high quality image in an experiment, since the robot obtains preferable images for the image processing.

Citation Download Citation

Ryuichi Ueda, Toshio Moriya, Chomchana Trevai, and Tamio Arai "Mobile robot control for composition of seamless and high-resolution images in library", Proc. SPIE 5299, Computational Imaging II, (21 May 2004); https://doi.org/10.1117/12.526286

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