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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shi, W. Samarabandu, J. |
| Copyright Year | 2006 |
| Description | Author affiliation: Dept. of Electr. & Comput. Eng., Univ. of Western Ontario, London, Ont. (Shi, W.; Samarabandu, J.) |
| Abstract | The capability of a mobile robot to negotiate corridors is essential for autonomous navigation in an indoor environment. An approach is proposed for determining the corridor line locations and the vanishing point in a corridor environment using a single camera, based on hypotheses generation/verification and a feedback control strategy. A corridor line is the intersection line between a wall and the floor, which is, the farthest lateral position the autonomous robot can safely navigate in a corridor. There have been numerous approaches described in the literature which detect corridor edges and vanishing point; however, no solution has been reported to detect true corridor line locations in the presence of many spurious linear features around the corridor line. The proposed method consists of low, medium, and high level processing stages which correspond to the extraction of features, the formation of hypotheses, and the verification of hypotheses using a feedback mechanism, respectively. The system has been tested on a large number of real corridor images captured by a moving robot in a corridor. The experimental results demonstrated the reliability and robustness of the approach with respect to different viewpoints, reflection variations and different illumination conditions |
| Starting Page | 1988 |
| Ending Page | 1991 |
| File Size | 4909668 |
| Page Count | 4 |
| File Format | |
| ISBN | 1424400384 |
| DOI | 10.1109/CCECE.2006.277812 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2006-05-07 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot vision systems Navigation Image edge detection Mobile robots Indoor environments Cameras Feedback control Feature extraction System testing Robustness robot navigation Corridor line location vanishing point hypothesis generation/verification feedback control strategy |
| Content Type | Text |
| Resource Type | Article |
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