Title :
Object and ground classification for a mobile robot in urban environment
Author :
Ha Jeong Hyo ; Kim, Sijong ; Chung, Myung Jin
Author_Institution :
Dept. of Electr. Eng., KAIST, Daejeon, South Korea
Abstract :
Recently, An interest about the unmanned vehicles is increasing, and a related research has been actively researched. Application systems using the partial element of technologies are commercialized. The information about surrounding environment should be able to use effectively in order to perform a given task such as robot navigation, path planning, and obstacle avoidance. The essential function for a mobile robot is object perception. This paper proposes an algorithm of object detection using stereo camera. The 3D spatial information is obtained by stereo matching algorithm. The reliability of 3D data is defined according to the distance between the object and the camera, and is used in the filtering process. The geometrical features were analyzed by the continuous characteristic of pixels in image. We achieve classification of ground and object.
Keywords :
cameras; image classification; image matching; mobile robots; object detection; remotely operated vehicles; robot vision; 3D data reliability; 3D spatial information; filtering process; geometrical feature analysis; ground classification; mobile robot; object classification; object detection; object perception; pixel continuous characteristics; stereo camera; stereo matching algorithm; unmanned vehicles; urban environment; Algorithm design and analysis; Cameras; Classification algorithms; Reliability; Roads; Sensors; Spatial databases; Ground Rejection; Object Detection; Stereo Matching;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8