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dc.contributor.authorLin, Chia-Howen_US
dc.contributor.authorJiang, Sin-Yien_US
dc.contributor.authorPu, Yueh-Juen_US
dc.contributor.authorSong, Kai-Taien_US
dc.date.accessioned2014-12-08T15:30:33Z-
dc.date.available2014-12-08T15:30:33Z-
dc.date.issued2010en_US
dc.identifier.isbn978-1-4244-6675-7en_US
dc.identifier.issn2153-0858en_US
dc.identifier.urihttp://hdl.handle.net/11536/21828-
dc.description.abstractThis 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.en_US
dc.language.isoen_USen_US
dc.titleRobust Ground Plane Detection for Obstacle Avoidance of Mobile Robots Using a Monocular Cameraen_US
dc.typeArticleen_US
dc.identifier.journalIEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)en_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:000287672005134-
Appears in Collections:Conferences Paper