The Method of Depth Map Calculating Based on Soft Operators in Multi-Agent Robotic Stereo Vision Systems
Keywords:Mobile Robots, Stereo Vision, Depth Map, Soft Computing, SAD, Fuzzy Logic
The fuzzy method of depth map calculating using stereo images obtained on the path of mobile robots (agents) is considered. The method is based on SAD (sum of absolute difference) algorithm composition and fuzzy inference. Its special feature is soft arithmetic operators with fuzzy implication usage. The accuracy of the constructing depth map method is estimated by RMSE (root mean square error). The bestest soft operator has minimum RMSE. The method of depth map calculating which has seven steps is presented. The proposed method has showed that the accuracy of the SAD algorithm increases by 20% when soft operators is used. This conclusion is confirmed by the simulation results presented in the chapter.
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