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dc.contributor.authorLin, Chia-Howen_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2015-07-21T08:29:14Z-
dc.date.available2015-07-21T08:29:14Z-
dc.date.issued2015-02-01en_US
dc.identifier.issn0263-5747en_US
dc.identifier.urihttp://dx.doi.org/10.1017/S0263574714000460en_US
dc.identifier.urihttp://hdl.handle.net/11536/124193-
dc.description.abstractThis paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. A novel image processing procedure is developed to estimate the distance between the robot and obstacles based-on inverse perspective transformation (IPT) in an image plane. A robust image processing solution is proposed to detect and segment a drivable ground area within the camera view. The proposed method integrates robust feature matching with adaptive color segmentation for plane estimation and tracking to cope with variations in illumination and camera view. After IPT and ground region segmentation, distance measurement results are obtained similar to those of a laser range finder for mobile robot obstacle avoidance and navigation. The merit of this algorithm is that the mobile robot can have the capacity of path finding and obstacle avoidance by using a single monocular camera. Practical experimental results on a wheeled mobile robot show that the proposed imaging system successfully obtains distances of surrounding objects for reactive navigation in an indoor environment.en_US
dc.language.isoen_USen_US
dc.subjectComputer visionen_US
dc.subjectNavigationen_US
dc.subjectMobile robotsen_US
dc.subjectControl of robotic systemsen_US
dc.subjectService robotsen_US
dc.titleRobust ground plane region detection using multiple visual cues for obstacle avoidance of a mobile roboten_US
dc.typeArticleen_US
dc.identifier.doi10.1017/S0263574714000460en_US
dc.identifier.journalROBOTICAen_US
dc.citation.volume33en_US
dc.citation.spage436en_US
dc.citation.epage450en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000348493900011en_US
dc.citation.woscount0en_US
Appears in Collections:Articles