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Yayın Visual obstacle detection and avoidance for indoor mobile robots(Işık Üniversitesi, 2012-09-19) İyidir, İbrahim Kamil; Tek, Faik Boray; Işık Üniversitesi, Fen Bilimleri Enstitüsü, Bilgisayar Mühendisliği Yüksek Lisans ProgramıThis study is a part of a joint team effort to transform a small-scale model car into an autonomous moving robot. This transformation includes several routines that are essential and attached together. Integration of various equipment on the model car is the first step of that routine which is shared among different thesis studies conducted at RAVLAB (Robotics and Autonomous Vehicles Laboratory) of Işık University. Hence. The resulting hardware system which is explained in this thesis is mostly the co-produce of RAVLAB team. The integration is followed by implementing the software required to establish control and communication links between different units. During this thesis, the author has developed a multi-threaded main control software to facilitate obstacle avoiding movements of the robot while reading and analyzing sensory inputs. This thesis study mainly focuses on detection of the obstacles with visual information collected from an ordinary color camera. The main obstacle detection algorithm that is proposed in this thesis is adapted from a powerful background subtraction algorithm ViBe [1] (Visual Background Extractor). The proposed algorithm uses the model of the ground plane in order to detect obstacles. A different ground plane model is kept for each pixel location as in ViBe. The proposed algorithm is robust against illumination differences, shadows and the changes in the appearance of the ground plane. A comparison is provided (using ground trurh data) with another obstacle detection algorithm [2] which also uses a ground plane based model to detect obstacles. The results of the proposed algorithm under different conditions compared to a counterpart. In addition to the obstacle detection, during this study two obstacle avoidance algorithms are developed to facilitate navigation of the robot in indoor environments. The experiments show that the robot is able to move while avoiding obstacles by using ultrasonic sensors as well as using the visual camera input.Yayın Microsoft Kinect Sensörü kullanarak zemin düzlemi algılama(IEEE, 2013-06-13) Kırcalı, Doğan; Tek, Faik Boray; İyidir, İbrahim KamilGörüntü işleme tabanlı mobil robotların başarılı navigasyonu için zemin düzlemi algılama esastır. Bu bildiride Kinect derinlik sensöründen elde edilen derinlik bilgisine dayalı yeni ve gürbüz bir zemin düzlemi algılama algoritması önerilmektedir. Literatürdeki benzer yöntemlerin aksine, zemin düzleminin sahnedeki en büyük alan olduğunu varsayılmamaktadır. Yöntemimiz sensörün yeri görüş açısının sabit olduğu veya değişken olabileceği iki farklı durum için iki değişik algoritma halinde sunulmaktadır. Yaptığımız deneylerde her iki durum için önerdiğimiz algoritmaların oldukça başarılı olduğu gösterilmektedir.Yayın Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor(Springer-Verlag, 2012-10-07) İyidir, İbrahim Kamil; Tek, Faik Boray; Kırcalı, DoğanThis 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 using monocular color vision and an ultrasonic distance sensor. Our approach assumes an obstacle free region in front of the robot in the initial frame. However, the method dynamically adapts to its environment in the succeeding frames. The adaptation is performed using a model update rule based on using ultrasonic distance sensor reading. Our detailed experiments validate the proposed concept and ultrasonic sensor based model update.
