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Object Analysis on Outdoor Environment Using Multiple Features for Autonomous Navigation Robot  

Kim, Dae-Nyeon (건동대학교 신재생에너지공학과)
Jo, Kang-Hyun (울산대학교 전기전자정보시스템공학부)
Publication Information
Journal of Korea Multimedia Society / v.13, no.5, 2010 , pp. 651-662 More about this Journal
Abstract
This paper describes a method to identify objects for autonomous navigation of an outdoor mobile robot. To identify objects, the robot recognizes the object from an image taken by moving robot on outdoor environment. As a beginning, this paper presents the candidates for a segment of region to building of artificial object, sky and trees of natural objects. Then we define their characteristics individually. In the process, we segment the regions of the objects included by preprocessing using multiple features. Multiple features are HSI, line segments, context information, hue co-occurrence matrix, principal components and vanishing point. An analysis of building identifies the geometrical properties of building facet such as wall region, windows and entrance. The building as intersection in vertical and horizontal line segment of vanishing point extracts the mesh. The wall region of building detect by merging the mesh of the neighbor parallelograms that have similar colors. The property estimates the number of story and rooms in the same floors by merging skewed parallelograms of the same color. We accomplish the result of image segmentation using multiple features and the geometrical properties analysis of object through experiments.
Keywords
Multiple Features; Region Segmentation; Object Recognition; Object Analysis; Autonomous Robot Navigation;
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