Real-time monocular image-based path detection
| Autor: | Tomas Krajnik, Marta Mejail, Pablo De Cristóforis, Matias Nitsche |
|---|---|
| Rok vydání: | 2013 |
| Předmět: |
0209 industrial biotechnology
Monocular Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Mobile robot 02 engineering and technology Image segmentation Computer Science::Robotics Computer graphics 020901 industrial engineering & automation Computer Science::Computer Vision and Pattern Recognition Pattern recognition (psychology) Path (graph theory) 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Information Systems Camera resectioning |
| Zdroj: | Journal of Real-Time Image Processing. 11:335-348 |
| ISSN: | 1861-8219 1861-8200 |
| Popis: | In this work, we present a new real-time image-based monocular path detection method. It does not require camera calibration and works on semi-structured outdoor paths. The core of the method is based on segmenting images and classifying each super-pixel to infer a contour of navigable space. This method allows a mobile robot equipped with a monocular camera to follow different naturally delimited paths. The contour shape can be used to calculate the forward and steering speed of the robot. To achieve real-time computation necessary for on-board execution in mobile robots, the image segmentation is implemented on a low-power embedded GPU. The validity of our approach has been verified with an image dataset of various outdoor paths as well as with a real mobile robot. |
| Databáze: | OpenAIRE |
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