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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Obstacle Detection Algorithm Using Forward-Viewing Mono Camera

전방 모노카메라 기반 장애물 검출 기술

  • Lee, Tae-Jae (School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Biomimetic Robot Research Center, Seoul National University) ;
  • Lee, Hoon (School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Biomimetic Robot Research Center, Seoul National University) ;
  • Cho, Dong-Il Dan (School of Electrical and Computer Engineering, Automation and Systems Research Institute (ASRI), Biomimetic Robot Research Center, Seoul National University)
  • 이태재 (서울대학교 전기정보공학부, 자동화시스템공동연구소, 국방생체모방자율로봇 특화연구센터) ;
  • 이훈 (서울대학교 전기정보공학부, 자동화시스템공동연구소, 국방생체모방자율로봇 특화연구센터) ;
  • 조동일 (서울대학교 전기정보공학부, 자동화시스템공동연구소, 국방생체모방자율로봇 특화연구센터)
  • Received : 2015.06.09
  • Accepted : 2015.08.03
  • Published : 2015.09.01
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Abstract

This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.

Keywords

References

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