DocumentCode
3154398
Title
Vision based obstacle detection using 3D HSV histograms
Author
Derhgawen, Ashish R. ; Ghose, D.
Author_Institution
Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India
fYear
2011
fDate
16-18 Dec. 2011
Firstpage
1
Lastpage
4
Abstract
This paper presents a fast obstacle detection algorithm for mobile robots that uses a single color camera as the only sensor to detect unknown obstacles in an environment. The algorithm uses color HSV histograms to classify each individual pixel as belonging either to an obstacle, or the ground based on its appearance. The system is capable of performing high speed obstacle detection on both uniform and multicolored terrains.
Keywords
collision avoidance; image classification; image colour analysis; image sensors; mobile robots; object detection; robot vision; 3D HSV histograms; color HSV histograms; mobile robots; pixel classification; single color camera; vision based obstacle detection; Cameras; Collision avoidance; Computers; Histograms; Image color analysis; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
India Conference (INDICON), 2011 Annual IEEE
Conference_Location
Hyderabad
Print_ISBN
978-1-4577-1110-7
Type
conf
DOI
10.1109/INDCON.2011.6139381
Filename
6139381
Link To Document