Fast Obstacle Detection for Monocular Autonomous Mobile Robots
نویسندگان
چکیده
منابع مشابه
A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots
This paper presents a monocular vision sensor-based obstacle detection algorithm for autonomous robots. Each individual image pixel at the bottom region of interest is labeled as belonging either to an obstacle or the floor. While conventional methods depend on point tracking for geometric cues for obstacle detection, the proposed algorithm uses the inverse perspective mapping (IPM) method. Thi...
متن کاملAdaptive Visual Obstacle Detection for Mobile Robots Using Monocular Camera and Ultrasonic Sensor
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 dy...
متن کاملReal-time Obstacle Avoidance for Fast Mobile Robots
A new real-time obstacle avoidance approach for mobile robots has been developed and implemented. This approach permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advancing toward the target. The novelty of this approach, entitled the Virtual Force Field, lies in the integration of two known concepts: Certainty Grids for obsta...
متن کاملVFH+: Reliable Obstacle Avoidance for Fast Mobile Robots
This paper presents further developments of the earlier Vector Field Histogram (VFH) method for realtime mobile robot obstacle avoidance. The enhanced method, called VFH+, offers several improvements that result in smoother robot trajectories and greater reliability. VFH+ reduces some of the parameter tuning of the original VFH method by explicitly compensating for the robot width. Also added i...
متن کاملThe vector field histogram-fast obstacle avoidance for mobile robots
A new real-time obstacle avoidance method for mobile robots has been developed and implemented. This method, named the vector field histogram (VFH), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward the target. The VFH method uses a two-dimensional Cartesian histogram grid as a world model. This world model is updated continuo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: SICE Journal of Control, Measurement, and System Integration
سال: 2017
ISSN: 1882-4889,1884-9970
DOI: 10.9746/jcmsi.10.370