Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor
Yükleniyor...
Dosyalar
Tarih
2012-10-07
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer-Verlag
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This 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.
Açıklama
Anahtar Kelimeler
Background subtraction algorithms, Distance sensors, Free region, Model updates, Monocular cameras, Obstacle detection, Rule based, ViBe, Vision based, Visual obstacle detection, Color vision, Mobile robots, Obstacle detectors, Sensors, Ultrasonic sensors, Computer vision
Kaynak
Lecture Notes in Computer Science
WoS Q Değeri
Q4
Scopus Q Değeri
Q3
Cilt
7584
Sayı
2
Part 2
Part 2
Künye
İyidir, 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_52
