Tham khảo tài liệu 'dynamic vision for perception and control of motion - ernst d. dickmanns part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | The Unified Blob-edge-corner Method UBM 165 Lsegmin 4 pyramid-pixels or 16 original image pixels. Figure shows the results for column search top left for row search top right and superimposed results where pixels missing in one reconstructed image have been added from the other one if available. The number of blobs to be handled is at least one order of magnitude smaller than for the full representation underlying Figure . For a human observer recognizing the road scene is not difficult despite the pixels missing. Since homogeneous regions in road scenes tend to be more extended horizontally the superposition column over row bottom right yields the more naturally looking results. Note however that up to now no merging of blob results from one stripe to the next has been done by the program. When humans look at a scene they cannot but do this unwillingly and apparently without special effort. For example nobody will have trouble recognizing the road by its almost homogeneously shaded gray values. The transition from 1-D blobs in separate stripes to 2-D blobs in the image and to a 3-D surface in the outside world are the next steps of interpretation in machine vision. Extended Shading Models in Image Regions The 1-D blob results from stripe analysis are stored in a list for each stripe and are accumulated over the entire image. Each blob is characterized by 1. the image coordinates of its starting point row respectively column number and its position jref in it 2. its extension Lseg in search direction 3. the average intensity Ic at its center and 4. the average gradient components of the intensity au and av. This allows easy merging of results of two neighboring stripes. Figure shows the start of 1-D blob merging when the threshold conditions for merger are satisfied in the region of overlap in adjacent stripes 1 The amount of overlap should exceed a lower bound say two or three pixels. 2 The difference in image intensity at the center of
