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    국내학술지 제목 게시판 내용
    제목(국문) 전방 모노카메라 기반 장애물 검출 기술
    제목(영문) Obstacle Detection Algorithm Using Forward - Viewing Mono Camera
    저자 이태재 (Tae-Jae Lee ,School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI) ) ▷공저자네트워크등록하기
    이훈 (Hoon Lee ,School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Biomimetic Robot Research Center, Seoul National University, Seoul, Republic of Korea ) ▷공저자네트워크등록하기
    조동일 (Dong-II ,School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Biomimetic Robot Research Center, Seoul National University, Seoul, Republic of Korea ) ▷공저자네트워크등록하기
    초록
    초록(영문)
    This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The
    low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
    keyword obstacle detection, mono-camera, segmentation
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 21
    PAGE 0858
    발표년도 2015
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