DocumentCode :
3137963
Title :
Corridor Line Detection for Vision Based Indoor Robot Navigation
Author :
Shi, Wenxia ; Samarabandu, Jagath
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont.
fYear :
2006
fDate :
38838
Firstpage :
1988
Lastpage :
1991
Abstract :
The capability of a mobile robot to negotiate corridors is essential for autonomous navigation in an indoor environment. An approach is proposed for determining the corridor line locations and the vanishing point in a corridor environment using a single camera, based on hypotheses generation/verification and a feedback control strategy. A corridor line is the intersection line between a wall and the floor, which is, the farthest lateral position the autonomous robot can safely navigate in a corridor. There have been numerous approaches described in the literature which detect corridor edges and vanishing point; however, no solution has been reported to detect true corridor line locations in the presence of many spurious linear features around the corridor line. The proposed method consists of low, medium, and high level processing stages which correspond to the extraction of features, the formation of hypotheses, and the verification of hypotheses using a feedback mechanism, respectively. The system has been tested on a large number of real corridor images captured by a moving robot in a corridor. The experimental results demonstrated the reliability and robustness of the approach with respect to different viewpoints, reflection variations and different illumination conditions
Keywords :
edge detection; feature extraction; feedback; image recognition; mobile robots; navigation; path planning; robot vision; autonomous navigation; camera; corridor line detection; feedback control; feedback mechanism; indoor robot navigation; mobile robot; Cameras; Feature extraction; Feedback control; Image edge detection; Indoor environments; Mobile robots; Navigation; Robot vision systems; Robustness; System testing; Corridor line location; feedback control strategy; hypothesis generation/verification; robot navigation; vanishing point;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Electrical and Computer Engineering, 2006. CCECE '06. Canadian Conference on
Conference_Location :
Ottawa, Ont.
Print_ISBN :
1-4244-0038-4
Electronic_ISBN :
1-4244-0038-4
Type :
conf
DOI :
10.1109/CCECE.2006.277812
Filename :
4054741
Link To Document :
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