Robust ground plane detection for obstacle avoidance of mobile robots using a monocular camera

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 3706-3711

  Lin, Chia How ^a   Jiang, Sin Yi ^a   Pu, Yueh Ju ^b   Song, Kai Tai ^a  

^a NATIONAL CHIAO TUNG UNIVERSITY   (Taiwan)

^b INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE   (Taiwan)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE COLOR SEGMENTATION; AVOID OBSTACLES; CAMERA VIEW; FEATURE MATCHING; GROUND PLANES; IMAGE PLANE; INDOOR ENVIRONMENT; MONOCULAR CAMERAS; OBSTACLE AVOIDANCE; OCCUPANCY GRID MAP; PERSPECTIVE TRANSFORMATION; PROCESSING PROCEDURES; REGION SEGMENTATION; ROBOT OBSTACLE AVOIDANCE; VISION BASED; WHEELED MOBILE ROBOT;

CAMERAS; COLLISION AVOIDANCE; COLOR MATCHING; DIGITAL IMAGE STORAGE; ESTIMATION; IMAGE SEGMENTATION; IMAGING SYSTEMS; MACHINE DESIGN; MOBILE ROBOTS;

INTELLIGENT ROBOTS;

EID: 78651473830     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5653055     Document Type: Conference Paper

References (22)

1. S. Lenser and M. Veloso, "Visual Sonar Fast Obstacle Avoidance Using Monocular Vision," In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, 2003, pp. 886-891.
2. C. Chen, C. Cheng, D. Page, A. Koschan and M. Abidi, "A Moving Object Tracked by a Mobile Robot with Real-Time Obstacles Avoidance Capacity," in Proc. of the 18th International Conference on Pattern Recognition, Washington, D.C., USA, 2006, pp.1091-1094.
3. N. Ohnishi and A. Imiya, "Dominant Plane Detection from Optical Flow for Robot Navigation," Pattern Recognition Letter, vol. 27, pp. 1009-1021, 2006.
4. Y. Kim and H. Kim, "Layered Ground Floor Detection for Vision Based Mobile Robot Navigation," in Proc. of IEEE Int. Conf. on Robotics and Automation, New Orleans, Louisiana, USA, 2004, pp. 13-18.
5. J. Michels, A. Saxena and A.Y. Ng, "High Speed Obstacle Avoidance using Monocular Vision and Reinforcement Learning," in Proceedings of the Twenty-first International Conference on Machine Learning (ICML), Bonn, Germany, 2005, pp. 593-600.
6. B. Micusik, H.Wildenauer and M. Vincze, "Towards Detection of Orthogonal Planes in Monocular Images of Indoor Environments," in Proc. of IEEE Int. Conf. on Robotics and Automation, Los Angeles, USA, 2008, pp. 999-1004.
7. B. Liang, N. Pears and Z. Chen, "Affine Heigh Landscapes for Monocular Mobile Robot Obstacle Avoidance", in Proc. of the 8th Int. Conf. on Intelligent Autonomous Systems, Amsterdam, The Netherlands, 2004, pp.863-872.
8. J. Zhou and B. Li, "Homography-based Ground Detection for a Mobile Robot Platform Using a Single Camera," in Proc. of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, 2006 pp, 4100-4105.
9. J. Zhou and B. Li, "Robust Ground Plane Detection with Normalized Homography in Monocular Sequences from a Robot Platform," in Proc. of the 2006 IEEE International Conference on Image Processing, Atlanta, GA, USA, 2006, pp. 3017-3020.
10. N.Simond and M. Parent, "Obstacle Detection from IPM and Super-Homography," in Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, 2007, pp.4283-4288,
11. S. Wybo, R. Bendahan, S. Bougnoux, C. Vestri, F. Abad and T. Kakinami, "Improving Backing-Up Manoeuvre Safety with Vision-Based Movement Detection," Intelligent Transport Systems, IET,vol., no. 2, pp.150-158,June 2007.
12. K. Yamaguchi, A. Watanabe, T. Naito, and Y. Ninomiya, "Road Region Estimation Using a Sequence of Monocular Images," in Proc. of the 19th international Conference on Pattern Recognition, Tampa, Florida, USA, 2008, pp.1-4.
13. E. Fazl-Ersi, and J.K. Tsotsos, "Region Classification for Robust Floor Detection in Indoor Environments," in Proc. of the 6th International Conference on Image Analysis and Recognition (ICIAR), Halifax, Canada, 2009, pp. 717-726
14. F. Bonin-Font and A. Ortiz, "Building a Qualitative Local Occupancy Grid in a New Vision-Based Reactive Navigation Strategy for Mobile Robots," in Proc. of IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Palma de Mallorca, Spain, 2009, pp. 1511-1514
15. H. Bay, A, Ess, T. Tuytelaars and L.V. Gool, "Speeded-Up Robust Features (SURF)," Computer Vision and Image Understanding, vol.110, pp. 346-359, 2008.
16. D. G. Lowe, "Distinctive Image Features from Scale-invariant Keypoints," International Journal of Computer Vision, vol. 60, no. 2, pp.91-110, 2004.
17. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, Cambridge University Press, New York, NY, 2003.
18. D. Comaniciu, V. Ramesh and P. Meer, "The Variable Bandwidth Mean-shift and Data-Driven Scale Selection," in Proc. of Eighth Int'l Conf. on Computer Vision, Vancouver, British Columbia, Canada, July 2001, pp. 438-445.
19. O. Kähler and J. Denzler, "Detecting Coplanar Feature Points in Handheld Image Sequences," in Proc. of Conference on Computer Vision Theory and Applications (VISAPP), Barcelona, Spain , 2007, pp. 447-452.
20. L. Hong and G. Chen, "Segment-Based Stereo Matching Using Graph Cuts," in Proc. of IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Washington, D.C., USA, 2004, pp.74-78.
21. H. Kawata, A. Ohya, S. Yuta, W. Santosh and T.Mori, "Development of Ultra-Small Lightweight Optical Range Sensor System," in Proc. of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05), Edmonton, Canada, 2005, pp. 1078-1083
22. K.T. Song and J.Y. Lin, "Behavior Fusion of Robot Navigation Using a Fuzzy Neural Network," in Proc. of IEEE International Conference on Systems, Man and Cybernetics , Taipei, Taiwan, 2006, pp. 4910-4915.