Name
Abstract | ||
|---|---|---|
This paper presents a monocular perception system tested on wheeled mobile robots. Its significant contribution is the use of a single image to obtain depth information (one bit) when robots detect obstacles. The constraints refer to the environment. Flat and homogeneous floor radiance is assumed. Results emerge from using a set of multi-resolution focus measurement thresholds to avoid obstacle collision. The algorithm's simplicity and the robustness achieved can be considered the key points of this work. On-robot experimental results are reported and a broad range of indoor applications is possible. However, false obstacle detection occurs when the constraints fail. Thus, proposals to overcome it are explained. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/978-3-540-72847-4_78 | IbPRIA (1) |
Keywords | Field | DocType |
depth information,on-robot experimental result,obstacle collision,mobile robot,indoor application,homogeneous floor radiance,constrained monocular obstacle perception,monocular perception system,key point,broad range,false obstacle detection | Obstacle avoidance,Obstacle,Computer vision,Computer science,Collision,Robustness (computer science),Artificial intelligence,Monocular,Robot,Perception,Mobile robot | Conference |
Volume | ISSN | Citations |
4477 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 12 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lluís Pacheco | 1 | 0 | 1.01 |
| Xavier Cufí | 2 | 266 | 15.85 |
| Javi Cobos | 3 | 0 | 0.34 |