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http://dx.doi.org/10.3745/KIPSTB.2007.14-B.4.249

Object Detection Method on Vision Robot using Sensor Fusion  

Kim, Sang-Hoon (한경대학교 정보제어공학과)
Publication Information
The KIPS Transactions:PartB / v.14B, no.4, 2007 , pp. 249-254 More about this Journal
Abstract
A mobile robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. We focus on how to detect a object region well using image processing algorithm because it gives robots the ability of working for human. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. Shape information and signature algorithm are used to segment the objects from background regardless of shape changes. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.
Keywords
Sensor Fusion; Object Detection; Color Transform; Moving Color;
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