ROBOTICS FOR SMEs - 3D VISION IN REAL-TIME FOR NAVIGATION AND OBJECT RECOGNITION

摘要

By utilizing the power of hardware we can make a versatile, real-time system capable of both navigation and object gripping, based on basic feature detectors. By using an FPGA together with two cameras we can remove the need for descriptors for navigation by performing what we call spurious matching and the use of 3D landmarks. The approach bypasses the problem of outliers and reduces the time consuming task of data association, which slows many matching algorithms. We also present an approach to object gripping by taking advantage of the full capability of the feature detector.