Design of a vision-based autonomous robot for street navigation

Author

Senlet, Turgay ; Elgammal, Ahmed

Author_Institution

ABD, Rutgers Univ., Piscataway, NJ, USA

fYear

2014

fDate

23-25 April 2014

Firstpage

862

Lastpage

865

Abstract

In this study we present the design of an autonomous mobile robot that navigates indoor and outdoor environments using computer vision. System´s hardware, software and simulation infrastructures are explained and autonomous navigation algorithms used to reach a given target are described. Successful experimental results are obtained for computer vision algorithms like sidewalk following, visual localization and sidewalk detection from satellite maps, crosswalk detection and path planning. We envision that in the future such a system can be a basis for designing advanced robot systems that help people in their daily lives.

Keywords

mobile robots; object detection; path planning; robot vision; computer vision algorithms; crosswalk detection; indoor environment navigation; outdoor environment navigation; path planning; satellite maps; sidewalk detection; sidewalk following; simulation infrastructures; street navigation; system hardware; system software; vision-based autonomous mobile robot design; visual localization; Computer vision; Conferences; Global Positioning System; Roads; Signal processing; Mobile robot; computer vision; crosswalk; visual localization;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2014 22nd

Conference_Location

Trabzon

Type

conf

DOI

10.1109/SIU.2014.6830366

Filename

6830366