Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2005.11.5.423

Automatic Edge Detection Method for Mobile Robot Application  

Kim Dongsu (한국과학기술원 전기전자공학과)
Kweon Inso (한국과학기술원 전기전자공학과)
Lee Wangheon (한국과학기술원 전기전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.5, 2005 , pp. 423-428 More about this Journal
Abstract
This paper proposes a new edge detection method using a $3{\times}3$ ideal binary pattern and lookup table (LUT) for the mobile robot localization without any parameter adjustments. We take the mean of the pixels within the $3{\times}3$ block as a threshold by which the pixels are divided into two groups. The edge magnitude and orientation are calculated by taking the difference of average intensities of the two groups and by searching directional code in the LUT, respectively. And also the input image is not only partitioned into multiple groups according to their intensity similarities by the histogram, but also the threshold of each group is determined by fuzzy reasoning automatically. Finally, the edges are determined through non-maximum suppression using edge confidence measure and edge linking. Applying this edge detection method to the mobile robot localization using projective invariance of the cross ratio. we demonstrate the robustness of the proposed method to the illumination changes in a corridor environment.
Keywords
ideal binary patten; edge confidence measure; fuzzy-based edge thresholding; automatic edge detection; projective invariance; mobile robot; self-localization;
Citations & Related Records
연도 인용수 순위
  • Reference
1 P. Meer, and B. Georgescu, 'Edge detection with embedded confidence,' IEEE T. PAMI, vol. 23, no. 12. 2001   DOI   ScienceOn
2 P. Rosin, 'Unimodal, thresholding,' Pattern Recognition(34), no. 11, pp. 2083-2096, 2001   DOI   ScienceOn
3 N. Otsu, 'A threshold selection method from grey-level histograms,' SMC(9), no. 1, pp. 62-66, 1997
4 I. Sobel, 'On calibrating computer controlled cameras for perceiving 3-D scenes,' Artificial Intelligence, 5(2), pp. 185-198, 1974   DOI   ScienceOn
5 J. Shen, and S. Castan, 'An optimal linear operator for edge detection,' Proceedings of IEEE, International Conference on Computer Vision and Pattern Recognition, pp. 109-114, Miami. 1986
6 A. Jain, Fundamental of Digital Image Processing, P. H, pp. 68, p72. 1989
7 E. H. Mamdani, and S. Assilian, 'An experiment in linguistic synthesis with a fuzzy logic controller,' Int. J. Man Machine Stud., vol. 7, pp. 1-13, 1974
8 W.-H. Lee et. al, 'Self-localization of a mobile robot without camera calibration using projective invariants,' Pattern Recognition Letters, 21 (2000) 45-60   DOI   ScienceOn