This paper deals with vision-based fuzzy closed-loop control schemes for collision avoidance as well as maintenance of clearance in a-priori unknown textured environments. These control schemes employ a visual motion cue, we call the visual threat cue (VTC) that provides some measure for a relative change in range as well as clearance between 3D surface and a fixated observer in motion. It is a collective measure obtained directly from the raw data of gray level images and is independent of the type of 3D surface texture. This motion cue is scale-independent, rotation independent, needs no 3D reconstruction and is measured in [time/sup -1/] units. Fuzzy control is closer in spirit to human thinking and can implement linguistically-expressed heuristic control policies directly without any knowledge about the dynamics of the complex process. The fuzzy controllers were implemented in real-time using a 486-based personal computer and a camera capable of undergoing 6-DOF motion. Results are highly encouraging.


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    Title :

    Vision-based fuzzy controllers for navigation tasks


    Contributors:
    Kundur, S.R. (author) / Raviv, D. (author)


    Publication date :

    1995-01-01


    Size :

    597224 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Vision-Based Fuzzy Controllers for Navigation Tasks

    Kundur, S. / Raviv, D. / IEEE et al. | British Library Conference Proceedings | 1995


    Vision-Based Fuzzy Controllers for Navigation Tasks

    Kundur, S. / Raviv, D. / IEEE; Computer Society; Technical Committee for Pattern Analysis and Machine Intelligence | British Library Conference Proceedings | 1995


    Vision-based fuzzy controllers for navigation tasks

    Kundur, S.R. / Raviv, D. | IEEE | 1995



    Novel Active Vision-Based Visual Threat Cue for Autonomous Navigation Tasks

    Kundur, S. R. / Raviv, D. | British Library Online Contents | 1999