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http://dx.doi.org/10.6109/jkiice.2010.14.9.1987

Obstacle Recognition by 3D Feature Extraction for Mobile Robot Navigation in an Indoor Environment  

Jin, Tae-Seok (동서대학교 메카트로닉스공학과)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.14, no.9, 2010 , pp. 1987-1992 More about this Journal
Abstract
This paper deals with the method of using the three dimensional characteristic information to classify the front environment in travelling by using the images captured by a CCD camera equipped on a mobile robot. The images detected by the three dimensional characteristic information is divided into the part of obstacles, the part of corners, and th part of doorways in a corridor. In designing the travelling path of a mobile robot, these three situations are used as an important information in the obstacle avoidance and optimal path computing. So, this paper proposes the method of deciding the travelling direction of a mobile robot with using input images based upon the suggested algorithm by preprocessing, and verified the validity of the image information which are detected as obstacles by the analysis through neural network.
Keywords
mobile robot; neural network; obstacle avoidance; 3D; detection;
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