Obstacle Position Detection on an Inclined Plane Using Randomized Hough Transform and Corner Detection

랜덤하프변환과 코너추출을 이용한 경사면의 장애물 위치 탐색

  • Received : 2011.02.20
  • Accepted : 2011.03.29
  • Published : 2011.05.01


This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.


Supported by : 정보통신산업진흥원


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