<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>Scene understanding is a core problem for field robots. However, many unsolved problems, like understanding bending paths, severely hinder the implementation due to varying illumination, irregular features and unstructured boundaries in field environments. Traditional three-dimensional(3D) environmental perception from 3D point clouds or fused sensors are costly and account poorly for field unstructured semantic information. In this paper, we propose a new methodology to understand field bending paths and build their 3D reconstruction from a monocular camera without prior training. Bending angle projections are assigned to clusters. Through compositions of their sub-clusters, bending surfaces are estimated by geometric inferences. Bending path scenes are approximated bending structures in the 3D reconstruction. Understanding sloping gradient is helpful for a navigating mobile robot to automatically adjust their speed. Based on geometric constraints from a monocular camera, the approach requires no prior training, and is robust to varying color and illumination. The percentage of incorrectly classified pixels were compared to the ground truth. Experimental results demonstrated that the method can successfully understand bending path scenes, meeting the requirements of robot navigation in an unstructured environment.</p>
</abstract>

Scene understanding is a core problem for field robots. However, many unsolved problems, like understanding bending paths, severely hinder the implementation due to varying illumination, irregular features and unstructured boundaries in field environments. Traditional three-dimensional(3D) environmental perception from 3D point clouds or fused sensors are costly and account poorly for field unstructured semantic information. In this paper, we propose a new methodology to understand field bending paths and build their 3D reconstruction from a monocular camera without prior training. Bending angle projections are assigned to clusters. Through compositions of their sub-clusters, bending surfaces are estimated by geometric inferences. Bending path scenes are approximated bending structures in the 3D reconstruction. Understanding sloping gradient is helpful for a navigating mobile robot to automatically adjust their speed. Based on geometric constraints from a monocular camera, the approach requires no prior training, and is robust to varying color and illumination. The percentage of incorrectly classified pixels were compared to the ground truth. Experimental results demonstrated that the method can successfully understand bending path scenes, meeting the requirements of robot navigation in an unstructured environment.

Bending Path Understanding Based on Angle Projections in Field Environments

Laboratory of 3D Scene Understanding and Visual Navigation, School of Mechanical Engineering

University of Shanghai for Science and Technology

Laboratory of Algorithms for Cognitive Models, School of Computer Science

Journal of Artificial Intelligence and Soft Computing Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Bending Path Understanding Based on Angle Projections in Field Environments"}

Scene understanding is a core problem for field robots. However, many unsolved problems, like understanding bending paths, severely hinder the implementation...

Bending Path Understanding Based on Angle Projections in Field Environments

Publié en ligne: 25 déc. 2023

Pages: 25 - 43

Reçu: 02 janv. 2023

Accepté: 06 nov. 2023

DOI: https://doi.org/10.2478/jaiscr-2024-0002

Mots clés
bending path, field robots, scene understanding

© 2024 Luping Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Bending Path Understanding Based on Angle Projections in Field Environments

Publié en ligne: 25 déc. 2023

Pages: 25 - 43

Reçu: 02 janv. 2023

Accepté: 06 nov. 2023

DOI: https://doi.org/10.2478/jaiscr-2024-0002

Mots clésbending path, field robots, scene understanding

© 2024 Luping Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Mots clés
bending path, field robots, scene understanding