matlab图像处理 外文翻译 外文文献 英文文献 基于视觉的矿井救援机器人场景识别

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1、附录A英文原文ScenerecognitionforminerescuerobotlocalizationbasedonvisionCUIYi-an(崔益安),CAIZi-xing(蔡自兴),WANGLu(王璐)Abstract：AnewscenerecognitionsystemwaspresentedbasedonfuzzylogicandhiddenMarkovmodel(HMM)thatcanbeappliedinminerescuerobotlocalizationduringemergencies.Thesystemusesmonocularcameratoacquireomni-

2、directionalimagesofthemineenvironmentwheretherobotlocates.Byadoptingcenter-surrounddifferencemethod,thesalientlocalimageregionsareextractedfromtheimagesasnaturallandmarks.TheselandmarksareorganizedbyusingHMMtorepresentthescenewheretherobotis,andfuzzylogicstrategyisusedtomatchthesceneandlandmark.Byth

3、isway,thelocalizationproblem,whichisthescenerecognitionprobleminthesystem,canbeconvertedintotheevaluationproblemofHMM.Thecontributionsoftheseskillsmakethesystemhavetheabilitytodealwithchangesinscale,2Drotationandviewpoint.Theresultsofexperimentsalsoprovethatthesystemhashigherratioofrecognitionandloc

4、alizationinbothstaticanddynamicmineenvironments.Keywords:robotlocation;scenerecognition;salientimage;matchingstrategy;fuzzylogic;hiddenMarkovmodel1IntroductionSearchandrescueindisasterareainthedomainofrobotisaburgeoningandchallengingsubject[1].Minerescuerobotwasdevelopedtoenterminesduringemergencies

5、tolocatepossibleescaperoutesforthosetrappedinsideanddeterminewhetheritissafeforhumantoenterornot.Localizationisafundamentalprobleminthisfield.Localizationmethodsbasedoncameracanbemainlyclassifiedintogeometric,topologicalorhybridones[2].Withitsfeasibilityandeffectiveness,scenerecognitionbecomesoneoft

6、heimportanttechnologiesoftopologicallocalization.Currentlymostscenerecognitionmethodsarebasedonglobalimagefeaturesandhavetwodistinctstages:trainingofflineandmatchingonline.Duringthetrainingstage,robotcollectstheimagesoftheenvironmentwhereitworksandprocessestheimagestoextractglobalfeaturesthatreprese

7、ntthescene.Someapproacheswereusedtoanalyzethedata-setofimagedirectlyandsomeprimaryfeatureswerefound,suchasthePCAmethod[3].However,thePCAmethodisnoteffectiveindistinguishingtheclassesoffeatures.Another