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Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor
(Springer-Verlag, 2012-10-07)
This paper presents a novel vision based obstacle detection algorithm that is adapted from a powerful background subtraction algorithm: ViBe (VIsual Background Extractor). We describe an adaptive obstacle detection method ...
Ground plane detection using an RGB-D sensor
(Springer, 2014-10-27)
Ground plane detection is essential for successful navigation of vision based mobile robots. We introduce a very simple but robust ground plane detection method based on depth information obtained using anRGB-Depth sensor. ...