| Autor: |
de Cristóforis, Pablo, Nitsche, Matias Alejandro, Krajník, Tomáš, Mejail, Marta Estela |
| Jazyk: |
angličtina |
| Rok vydání: |
2013 |
| Předmět: |
|
| DOI: |
10.1007/s11554-013-0356-z |
| Popis: |
In this work, we present a new real-time imagebased 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. Fil: de Cristóforis, Pablo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Nitsche, Matias Alejandro. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina Fil: Krajník, Tomáš. Czech Technical University in Prague; República Checa Fil: Mejail, Marta Estela. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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