This paper presents a structural image pyramid approach for representing and quickly locating obstacles in the environment of robot motion. The method is based on the cellular geometry and cellular. A thresholding and mapping scheme for generating the structural pyramid is applied. It converts the geometric intersection computation for obstacle detection into a cellular set intersection operation, thus reduces the computation complexity.
|Original language||English (US)|
|Pages (from-to)||var paging MS89-195|
|Journal||Technical Paper - Society of Manufacturing Engineers. MS|
|State||Published - 1989|
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering