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  • Mühendislik Fakültesi / Faculty of Engineering
  • Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering
  • MF - Bildiri Koleksiyonu | Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering
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Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor

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Date

2012-10-07

Author

Tek, Faik Boray
İyidir, İbrahim Kamil
Kırcalı, Doğan

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Citation

İyidir, İ. K., Tek, F. B. & Kırcalı, D. (2012). Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor. Lecture Notes in Computer Science, 7584(Part 2), 526-535. doi:10.1007/978-3-642-33868-7_52

Abstract

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 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.

Source

Lecture Notes in Computer Science

Volume

7584

Issue

2
Part 2

URI

https://hdl.handle.net/11729/732
http://dx.doi.org/10.1007/978-3-642-33868-7_52

Collections

  • MF - Bildiri Koleksiyonu | Bilgisayar Mühendisliği Bölümü / Department of Computer Engineering [103]
  • Scopus İndeksli Bildiri Koleksiyonu [409]
  • WoS İndeksli Bildiri Koleksiyonu [332]



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