3D Depth Measurement System-based Unpaved Trail Recognition for Mobile Robots

이동 로봇을 위한 3차원 거리 측정 장치기반 비포장 도로 인식

  • 김성찬 (CAIIT, 전북대학교 제어계측공학과) ;
  • 김종만 (전남도립남도대학교 컴퓨터응용전기과) ;
  • 김형석 (CAIIT, 전북대학교 제어계측공학과)
  • Published : 2006.04.01


A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.


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