Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Intelligent Hexapod Mobile Robot using Image Processing and Sensor Fusion

영상처리와 센서융합을 활용한 지능형 6족 이동 로봇

  • 이상무 (국립한경대학교 정보제어공학과) ;
  • 김상훈 (국립한경대학교 정보제어공학과, 전자기술연구소)
  • Published : 2009.04.01
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Abstract

A intelligent mobile hexapod robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.

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References

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