Structural pyramids for visual guidance of robot motion

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)var paging MS89-195
JournalTechnical Paper - Society of Manufacturing Engineers. MS
StatePublished - 1989
Externally publishedYes

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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