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

Chia How Lin*, Sin Yi Jiang, Yueh Ju Pu, Kai-Tai Song

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

30 Scopus citations

Abstract

This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. An image processing procedure is developed to estimate distances between the robot and obstacles based-on inverse perspective transformation (IPT) in image plane. A robust image processing solution is proposed to detect and segment navigatable ground plane area within the camera view. The proposed method integrate robust feature matching with adaptive color segmentation for plane estimation and tracking to cope with variations in illumination and camera view. After IPT and ground region segmentation, a result similar to the occupancy grid map is obtained for mobile robot obstacle avoidance and navigation. Practical experimental results of a wheeled mobile robot show that the proposed imaging system successfully estimates distance of objects and avoid obstacles in an indoor environment.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3706-3711
Number of pages6
DOIs
StatePublished - 1 Dec 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan
Duration: 18 Oct 201022 Oct 2010

Publication series

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

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan
CityTaipei
Period18/10/1022/10/10

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