Robust ground plane region detection using multiple visual cues for obstacle avoidance of a mobile robot
This 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 p...
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| Veröffentlicht in: | Robotica 2015-02, Vol.33 (2), p.436-450 |
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| container_title | Robotica |
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| creator | Lin, Chia-How Song, Kai-Tai |
| description | This 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. |
| doi_str_mv | 10.1017/S0263574714000460 |
| format | Article |
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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.</description><identifier>ISSN: 0263-5747</identifier><identifier>EISSN: 1469-8668</identifier><identifier>DOI: 10.1017/S0263574714000460</identifier><language>eng</language><publisher>Cambridge, UK: Cambridge University Press</publisher><subject>Cameras ; Grounds ; Image processing ; Navigation ; Obstacle avoidance ; Planes ; Robots ; Segmentation</subject><ispartof>Robotica, 2015-02, Vol.33 (2), p.436-450</ispartof><rights>Copyright © Cambridge University Press 2014</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c350t-44ee2bf5f032b21ae832fd76280755df142aa2005e91f3c31e2b5435389996b3</citedby><cites>FETCH-LOGICAL-c350t-44ee2bf5f032b21ae832fd76280755df142aa2005e91f3c31e2b5435389996b3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://www.cambridge.org/core/product/identifier/S0263574714000460/type/journal_article$$EHTML$$P50$$Gcambridge$$H</linktohtml><link.rule.ids>164,314,776,780,27901,27902,55603</link.rule.ids></links><search><creatorcontrib>Lin, Chia-How</creatorcontrib><creatorcontrib>Song, Kai-Tai</creatorcontrib><title>Robust ground plane region detection using multiple visual cues for obstacle avoidance of a mobile robot</title><title>Robotica</title><addtitle>Robotica</addtitle><description>This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. 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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. 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| fulltext | fulltext |
| identifier | ISSN: 0263-5747 |
| ispartof | Robotica, 2015-02, Vol.33 (2), p.436-450 |
| issn | 0263-5747 1469-8668 |
| language | eng |
| recordid | cdi_proquest_miscellaneous_1660062496 |
| source | Cambridge Journals |
| subjects | Cameras Grounds Image processing Navigation Obstacle avoidance Planes Robots Segmentation |
| title | Robust ground plane region detection using multiple visual cues for obstacle avoidance of a mobile robot |
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