Real-time free space detection and navigation using omnidirectional vision and parametric and geometric active contours

摘要：

This paper contributes to adapt parametric and geometric active contour methods in a new framework to handle real time free space extraction while taking advantage of the properties of omnivision. Both methods were formally and algorithmically adapted and improved. Some comparative results, achieved on unknown indoor and outdoor images, are presented to validate the efficiency of our two snake based approaches. We also show that active contours can be applied to make a robot navigate autonomously, only using real omniimages, thanks to the extracted free space skeleton.

作者: Pauline Merveilleux Ouiddad Labbani-Igbida El Mustapha Mouaddib

作者单位: Mod(e)lisation,Information et Syst(e)mes Lab.,Universit(e) de Picardie Jules Verne Amiens,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6312-6317

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）