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Visual Navigation - From Biological Systems To Unmanned Ground Vehicles (Hardcover)
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Visual Navigation - From Biological Systems To Unmanned Ground Vehicles (Hardcover)
Series: Computer Vision Series
Expected to ship within 12 - 17 working days
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All biological systems with vision move about their environments
and successfully perform many tasks. The same capabilities are
needed in the world of robots. To that end, recent results in
empirical fields that study insects and primates, as well as in
theoretical and applied disciplines that design robots, have
uncovered a number of the principles of navigation. To offer a
unifying approach to the situation, this book brings together ideas
from zoology, psychology, neurobiology, mathematics, geometry,
computer science, and engineering. It contains theoretical
developments that will be essential in future research on the topic
-- especially new representations of space with less complexity
than Euclidean representations possess. These representations allow
biological and artificial systems to compute from images in order
to successfully deal with their environments.
In this book, the barriers between different disciplines have been
smoothed and the workings of vision systems of biological organisms
are made clear in computational terms to computer scientists and
engineers. At the same time, fundamental principles arising from
computational considerations are made clear both to empirical
scientists and engineers. Empiricists can generate a number of
hypotheses that they could then study through various experiments.
Engineers can gain insight for designing robotic systems that
perceive aspects of their environment.
For the first time, readers will find:
* the insect vision system presented in a way that can be
understood by computational scientists working in computer vision
and engineering;
* three complete, working robotic navigation systems presented
with all the issues related to their design analyzed in
detail;
* the beginning of a computational theory of direct perception, as
advocated by Gibson, presented in detail with applications for a
variety of problems; and
* the idea that vision systems could compute space representations
different from perfect metric descriptions -- and be used in
robotic tasks -- advanced for both artificial and biological
systems.
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