[paparazzi-commits] [paparazzi/paparazzi] 33d858: Added an initial version of a texton module that r...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 33d858437c07e4b8d1f9b49eb48c7b5cc9d8adb3
      
https://github.com/paparazzi/paparazzi/commit/33d858437c07e4b8d1f9b49eb48c7b5cc9d8adb3
  Author: guidoAI <address@hidden>
  Date:   2016-06-01 (Wed, 01 Jun 2016)

  Changed paths:
    A conf/modules/cv_textons.xml
    A sw/airborne/modules/computer_vision/textons.c
    A sw/airborne/modules/computer_vision/textons.h

  Log Message:
  -----------
  Added an initial version of a texton module that represents the appea… (#1692)

* Added an initial version of a texton module that represents the appearance of 
an image with a texton distribution

In past work, we have used texton distributions for instance for obstacle 
detection. If the entropy of the texton distribution becomes low, this is 
typically an indication of a close obstacle. This "appearance variation cue" 
can be a good complement to using optical flow measurements for obstacle 
avoidance. There are may other uses for texton distributions though, while they 
are computationally quite cheap.
* Fixed code style, and added nicer settings and documentation in xml