A study of omni-directional image based environment recognition for mobile robots

被引：0

作者：

Sugiura, Makoto ^{[1
]}

Sakazaki, Hidenobu ^{[1
]}

Shimizu, Manabu ^{[1
]}

Kobayashi, Kazuyuki ^{[1
]}

Watanabe, Kajiro ^{[1
]}

机构：

[1] Hosei Univ, Dept Syst Control Engn, Fac Engn, Tokyo, Japan

来源：

PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 | 2007年

关键词：

omni-directional camera; mobile robot; environment recognition;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The development of intelligent autonomous mobile robots is an area of active research. To develop intelligent autonomous mobile robots, it is necessary to select appropriate sensing devices and a robust environment recognition algorithm. To achieve robust and stable navigation for mobile robots, we employ an omni-directional camera, which is a suitable image capturing device for mobile robots because it can capture images of the surrounding environment without a dead angle. In order to recognize the surrounding environment from captured images, we newly developed an environment recognition algorithm that is suitable for omni-directional images. From the results of environment recognition, the robot can find an appropriate path for navigation. The features of the new algorithm are as follows: (1) Morphological operations are applied to detect obstacles robustly and accurately; (2) A quad-tree region segmentation based lane detection algorithm is applied; and (3) An improved Hough transform which can detect curved lanes is used to confirm the results of (2). The effectiveness of the new algorithm was confirmed.

引用

页码：2029 / +

页数：2