
4.3 Visual guidance
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Finally, the side map is passed to the last LOVP which finds
the end of each chain. If two matching sides terminate at the
same height in the image, the robot considers this convincing
evidence for the existence of a can at that location. The LOVP
then records the coordinates of the center of this can's bottom as
well as its aspect ratio (length to width ratio). In addition, it
averages the disparity values at the two side terminations to
provide a representative depth measure for the can. As the image
is scrolled through, the LOVP keeps track of the candidate
whose true aspect ratio is closest to 2.7. The panel in th ...