Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor

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dc.authorid0000-0002-8649-6013
dc.authorid0000-0001-7723-3732
dc.contributor.authorİyidir, İbrahim Kamilen_US
dc.contributor.authorTek, Faik Borayen_US
dc.contributor.authorKırcalı, Doğanen_US
dc.date.accessioned2015-12-09T10:24:08Z
dc.date.available2015-12-09T10:24:08Z
dc.date.issued2012-10-07
dc.departmentIşık Üniversitesi, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.departmentIşık University, Faculty of Engineering, Department of Computer Engineeringen_US
dc.description.abstractThis paper presents a novel vision based obstacle detection algorithm that is adapted from a powerful background subtraction algorithm: ViBe (VIsual Background Extractor). We describe an adaptive obstacle detection method using monocular color vision and an ultrasonic distance sensor. Our approach assumes an obstacle free region in front of the robot in the initial frame. However, the method dynamically adapts to its environment in the succeeding frames. The adaptation is performed using a model update rule based on using ultrasonic distance sensor reading. Our detailed experiments validate the proposed concept and ultrasonic sensor based model update.en_US
dc.description.versionPublisher's Versionen_US
dc.identifier.citationİyidir, İ. K., Tek, F. B. & Kırcalı, D. (2012). Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor. Lecture Notes in Computer Science, 7584(Part 2), 526-535. doi:10.1007/978-3-642-33868-7_52en_US
dc.identifier.doi10.1007/978-3-642-33868-7_52
dc.identifier.endpage535
dc.identifier.isbn9783642338687
dc.identifier.isbn9783642338670
dc.identifier.issn0302-9743
dc.identifier.issn1611-3349
dc.identifier.issue2
dc.identifier.issuePart 2
dc.identifier.scopus2-s2.0-84867730236
dc.identifier.scopusqualityQ3
dc.identifier.startpage526
dc.identifier.urihttps://hdl.handle.net/11729/732
dc.identifier.urihttp://dx.doi.org/10.1007/978-3-642-33868-7_52
dc.identifier.volume7584
dc.identifier.wosWOS:000371260700052
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakConference Proceedings Citation Index – Science (CPCI-S)en_US
dc.institutionauthorİyidir, İbrahim Kamilen_US
dc.institutionauthorTek, Faik Borayen_US
dc.institutionauthorKırcalı, Doğanen_US
dc.institutionauthorid0000-0002-8649-6013
dc.institutionauthorid0000-0001-7723-3732
dc.language.isoenen_US
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.publisherSpringer-Verlagen_US
dc.relation.ispartofLecture Notes in Computer Scienceen_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBackground subtraction algorithmsen_US
dc.subjectDistance sensorsen_US
dc.subjectFree regionen_US
dc.subjectModel updatesen_US
dc.subjectMonocular camerasen_US
dc.subjectObstacle detectionen_US
dc.subjectRule baseden_US
dc.subjectViBeen_US
dc.subjectVision baseden_US
dc.subjectVisual obstacle detectionen_US
dc.subjectColor visionen_US
dc.subjectMobile robotsen_US
dc.subjectObstacle detectorsen_US
dc.subjectSensorsen_US
dc.subjectUltrasonic sensorsen_US
dc.subjectComputer visionen_US
dc.titleAdaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensoren_US
dc.typeConference Objecten_US
dspace.entity.typePublication

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