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Autonomous Mobile Robot System Using Adaptive Spatial Coordinates Detection Scheme based on Stereo Camera  

Ko Jung-Hwan (광운대학교 차세대 3D 디스플레이 연구센터)
Kim Sung-Il (경원대학교 전자공학과)
Kim Eun-Soo (광운대학교 차세대 3D 디스플레이 연구센터)
Publication Information
The Journal of Korean Institute of Communications and Information Sciences / v.31, no.1C, 2006 , pp. 26-35 More about this Journal
Abstract
In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.
Keywords
mobile robot; stereo vision; stereo camera; disparity; spatial map;
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Times Cited By KSCI : 1  (Citation Analysis)
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