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Real-Time Vision on a Mobile Robot Platform;Motivation;Overview;Test Platform – Sony ERS7;The Aibo Vision System – I/O;Robot’s view of the world…;Vision System – Flowchart…;Vision System – Phase 1: Segmentation.;Vision System – Phase 1: Segmentation.;Vision System – Phase 1: Segmentation.;Vision System – Phase 1: Segmentation.;Sample Images – Color Segmentation.;Sample Video – Color Segmentation.;Some Problems…;Vision System – Phase 2: Blobs.;Sample Images – Blob Detection.;Vision System – Phase 2: Objects. ;Sample Images – Objects.;;Vision System – Phase 3: Lines.;Vision System – Phase 3: Lines.;Sample Images – Objects + Lines.;Some Problems…;Illumination Sensitivity – Samples.;Illumination Sensitivity – Movie…;Illumination Invariance - Approach.;Illumination Invariance – Training.;Illumination Invariance – Training.;Illumination Invariance – Training.;Illumination Invariance – Testing.;Illumination Invariance – Testing.;Illumination Invariance – Testing.;Illumination Invariance – Testing.;Illumination Invariance – Testing.;Adapting to Illumination changes – Video;Some Related Work… ;Conclusions;Future Work…;Autonomous Color Learning – Video;THAT’S ALL FOLKS ?;;Question – 1: So, what is new??;Vision – 1: Why LAB??;Vision – 2: Edge pixels + Least Squares??;Vision – 3: Normalized RGB ??;Illumination Invariance – Training. ;Illumination Invariance – Testing.
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