The system of video-data processing for the autonomous control of mobile robot

Author

Vershok, Denis ; Sadykhov, Rauf ; Selikhanovich, Andrei ; Schilling, Klaus ; Roth, Hubert

Author_Institution

Syst. Identification Lab., United Inst. of Informatics Problems Nat. Acad. of Sci. of Belarus, Minsk

fYear

2003

fDate

8-10 Sept. 2003

Firstpage

241

Lastpage

243

Abstract

We describe the system of video-data processing based on monocular vision for autonomous control of mobile robot. The system allows detecting obstacles in a robot environment modelled as a set of straight-line segment. The given system consists of three basic stages and uses original algorithms, ensuring the required precision and realization of the system in the real time. The first stage uses a fast edge detection algorithm on the basis of two-dimensional Walsh transform. The algorithm of modified Hough transform is used for detection of straight-line segments. The third stage "segment tracking" uses Kalman filtration for tracking segments in a monocular sequence of images

Keywords

Hough transforms; Kalman filters; Walsh functions; edge detection; image sequences; mobile robots; object detection; robot vision; video signal processing; Hough transform; Kalman filtration; Walsh transform; edge detection algorithm; image sequence; mobile robot autonomous control; monocular vision; obstacle detection; segment tracking; straight-line segment detection; video-data processing system; Cameras; Control systems; Image edge detection; Infrared sensors; Mobile robots; Real time systems; Robot control; Robot sensing systems; Robot vision systems; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2003. Proceedings of the Second IEEE International Workshop on

Conference_Location

Lviv

Print_ISBN

0-7803-8138-6

Type

conf

DOI

10.1109/IDAACS.2003.1249558

Filename

1249558