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Proceedings Paper

Mobile robot control for composition of seamless and high-resolution images in library
Author(s): Ryuichi Ueda; Toshio Moriya; Chomchana Trevai; Tamio Arai
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Paper 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.

Paper Details

Date Published: 21 May 2004
PDF: 8 pages
Proc. SPIE 5299, Computational Imaging II, (21 May 2004); doi: 10.1117/12.526286
Show Author Affiliations
Ryuichi Ueda, Hitachi, Ltd. (Japan)
Univ. of Tokyo (Japan)
Toshio Moriya, Hitachi, Ltd. (Japan)
Chomchana Trevai, Hitachi, Ltd. (Japan)
Univ. of Tokyo (Japan)
Tamio Arai, Univ. of Tokyo (Japan)

Published in SPIE Proceedings Vol. 5299:
Computational Imaging II
Charles A. Bouman; Eric L. Miller, Editor(s)

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