Imaging Quality Based State Switch Algorithm for Outdoor Moving Robot System
Vision based computation of the moving CCD camera in an outdoor environment is one of the most difficult tasks in the computer vision (CV) research field. Currently, to implement only one CV function steadily, one even needs to develop a series of algorithms to meet the computational requirement of the complex environment change inevitably. So the choice of the switch occasion of these different algorithms for an abrupt change of the imaging definition is a problem. In this paper, we propose to use the Image Quality (IQ) as a measurement to find proper switch occasions of different CV algorithms for the outdoor robot system. Firstly we define three IQ metrics to describe the imaging definition of a CCD camera. Then we present an ARMA-ARCH model based multiple flows method to detect the abrupt change of these series. Finally, we use our method to cut the image sequence into multiple segments, which are fit to be processed by different CV algorithms. Many experiment results have shown the validity of our method.
Image Quality Time Series State Switch Outdoor Robot System
Haoting LIU Hongwei ZHU Fenggang XU Hanqing LU
National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences,China Laboratory of System Usability Evaluation Department of Space Ergonomics Astronaut Research & Traini National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20（万方平台首次上网日期，不代表论文的发表时间）