A NEW METHOD OF VISION-BASED OBSTACLE DETECTION FOR NAVIGATION AND MOTION CONTROL OF MOBILE ROBOTS

机译：基于视觉的移动机器人导航与运动控制障碍物检测方法

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The important part of integrated systems for navigation and motion control of mobile robots and cars is subsystem for detection and recognition of obstacles. The paper presents new methods to detect obstacle. SVM is used to detect obstacles in monocular vision and GTM (ground plane transformation) is used to detect obstacles in stereo vision and also a simple method of their integration is used for better results achievement. Logic-axiomatic and logic-probability methods for obstacle recognition on a complex picture of road state are suggested.

机译：用于移动机器人和汽车的导航和运动控制的集成系统的重要部分是用于检测和识别障碍物的子系统。本文提出了检测障碍物的新方法。 SVM用于检测单眼视觉中的障碍物，而GTM（地平面转换）用于检测立体视觉中的障碍物，并且使用一种简单的集成方法来获得更好的结果。提出了在复杂路况图像上识别障碍物的逻辑-公理和逻辑概率方法。

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来源
《Saint Petersburg International Conference on Integrated Navigation Systems; 20040524-26; Saint Petersburg(RU)》|2004年|P.57-58|共2页
会议地点 Saint Petersburg(RU)
作者
Hangen He; Tao Wu; A.V. Timofeev;
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作者单位

Institute of Automation, National University of Defense Technology, Changsha, 410073, China;

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会议组织
原文格式 PDF
正文语种 eng
中图分类无线电导航;
关键词
navigation control; robots; obstacle detection;

机译：导航控制;机器人;障碍物检测;

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专利

1. Vision-Based Obstacle Detection and Avoidance: Application to Robust Indoor Navigation of Mobile Robots [J] . Sukjune Yoon, Kyung Shik Roh, Youngbo Shim Advanced Robotics: The International Journal of the Robotics Society of Japan . 2008,第4期

机译：基于视觉的障碍物检测和避免：在移动机器人的稳健室内导航中的应用
2. Motion control and navigation of multiple mobile robots for obstacle avoidance and target seeking: a rule-based neuro-fuzzy technique [J] . S K Pradhan, D R Parhi, A K Panda Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering . 2009,第2期

机译：多个移动机器人的运动控制和导航，用于避障和寻找目标：基于规则的神经模糊技术
3. Vision-based navigation by a mobile robot with obstacle avoidance using single-camera vision and ultrasonic sensing [J] . Ohya I., Kosaka A. IEEE Transactions on Robotics and Automation . 1998,第6期

机译：移动机器人基于视觉的导航，使用单摄像头视觉和超声波感应技术可以避开障碍物
4. Vision-based navigation of mobile robot with obstacle avoidance by single camera vision and ultrasonic sensing [C] . Ohya, A., Kosaka, Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on . 1997

机译：通过单摄像头视觉和超声波感应避障的基于视觉的移动机器人导航
5. Free motion and obstacle avoidance control for mobile robots [D] . Kim, Bumsoo 1992

机译：移动机器人的自由运动和避障控制
6. Adaptive Obstacle Detection for Mobile Robots in Urban Environments Using Downward-Looking 2D LiDAR [O] . Cong Pang, Xunyu Zhong, Huosheng Hu, 2018

机译：使用向下看的二维LiDAR的城市环境中移动机器人的自适应障碍物检测
7. Development of a Bio-inspired Vision System for Mobile Micro-robots:In this paper, we present a new bio-inspired vision system for mobile micro-robots. The processing method takes inspiration from vision of locusts in detecting the fast approaching objects. Research suggested that locusts use wide-field visual neuron called the lobula giant movement detector to respond to imminent collisions. We employed the locusts' vision mechanism to motion control of a mobile robot. The selected image processing method is implemented on a developed extension module using a low-cost and fast ARM processor. The vision module is placed on top of a micro-robot to control its trajectory and to avoid obstacles. The observed results from several performed experiments demonstrated that the developed extension module and the inspired vision system are feasible to employ as a vision module for obstacle avoidance and motion control. [O] . Hu, Cheng, Arvin, Farshad, Yue, Shigang 2014

机译：开发用于移动微型机器人的生物启发视觉系统：在本文中，我们提出了一种用于移动微型机器人的新型生物启发视觉系统。该处理方法从检测快速接近物体的蝗虫视觉中获取灵感。研究表明，蝗虫使用称为小叶巨型运动探测器的宽视野神经元来应对即将发生的碰撞。我们采用蝗虫的视觉机制来控制移动机器人。所选择的图像处理方法使用低成本且快速的aRm处理器在开发的扩展模块上实现。视觉模块放置在微型机器人的顶部以控制其轨迹并避开障碍物。几次进行的实验观察到的结果表明，开发的扩展模块和灵感视觉系统可用作避障和运动控制的视觉模块。

A NEW METHOD OF VISION-BASED OBSTACLE DETECTION FOR NAVIGATION AND MOTION CONTROL OF MOBILE ROBOTS

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