標題: Robust Ground Plane Detection for Obstacle Avoidance of Mobile Robots Using a Monocular Camera
作者: Lin, Chia-How
Jiang, Sin-Yi
Pu, Yueh-Ju
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 2010
摘要: This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. An image processing procedure is developed to estimate distances between the robot and obstacles based-on inverse perspective transformation (IPT) in image plane. A robust image processing solution is proposed to detect and segment navigatable ground plane area within the camera view. The proposed method integrate 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, a result similar to the occupancy grid map is obtained for mobile robot obstacle avoidance and navigation. Practical experimental results of a wheeled mobile robot show that the proposed imaging system successfully estimates distance of objects and avoid obstacles in an indoor environment.
URI: http://hdl.handle.net/11536/21828
ISBN: 978-1-4244-6675-7
ISSN: 2153-0858
期刊: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)
Appears in Collections:Conferences Paper