Title :
Road continuity evaluation for autonomous robot navigation
Author :
Kobori, Sho ; Morioka, Kazuyuki
Author_Institution :
Grad. Sch. of Electr. Eng., Meiji Univ., Tokyo, Japan
Abstract :
This paper describes a road recognition method for mobile robot navigation along roads. The method is based on edge point detection by using a camera and a laser range scanner. In order to obtain reliable road detection results while navigation, the robot must evaluate whether detection results seem to be roads or not. In this paper, road continuity is defined for road evaluation. Edge points and their approximate lines are used for road continuity calculation. The experimental results in actual outdoor environments were shown.
Keywords :
cameras; edge detection; laser ranging; mobile robots; path planning; robot vision; autonomous robot navigation; camera; edge point detection; laser range scanner; mobile robot navigation; outdoor environments; reliable road detection; road continuity calculation; road continuity evaluation; road evaluation; road recognition method; Cameras; Image edge detection; Mobile robots; Navigation; Roads; Robot vision systems; Autonomous Navigation; Wheeled Robots;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057521
