Image-based Ezploration Obstacle Avoidance for Mobile Robot
Obstacle avoidance is a key component of autonomous systems. In particular, when dealing with large robots unmodified environments, robust obstacle avoidance is vital. This paper presents a new image-based exploration algorithm for a mobile robot equipped only with a monocular pan-tilt camera to autonomously explore the natural scene structure in indoor environments. The algorithm inferred and computed the frontier information directly from the segmentation images and classified each super-pixel as belong either to an obstacle or the ground plane. The method used distance and orientation information of the frontier to control the robot to avoid collisions. Experimental results on a mobile robot in an unmodified laboratory and corridor environments demonstrate the validity of the approach.
Obstacle Avoidance Image Ezploration Monocular Vision Image Segmentation
Yong Wang Shuai Fang Yang Cao Hongwei Sun
School of Computer and Information, Hefei University of Technology, Hefei 230009, China Department of Automation, University of Science and Technology of China, Hefei, 230027, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
3019-3023
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）