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Authors: Ghaida Al Zeer ; Adnan Abou Nabout and Bernd Tibken

Affiliation: University of Wuppertal, Germany

Keyword(s): Image Processing, Mobile Robotics, Path Planning, Obstacle Detection.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: The paper presents an obstacle detection method for mobile robots using a structured background. This method is based on differences of appearance between obstacles and the background in the camera images. The basic idea is to cover the ground of the workspace with a known structure. If part of this structure is obscured, this can be detected and indicates the existence of an obstacle. The method uses a reference symbol, chosen to exhibit certain features, to construct a reference image of the structured background. To detect possible obstacles we calculate the Fourier descriptors (FD) of all contours included in a given image and compare them with those of the stored reference symbol. This enables us to recognize all reference symbols which are not obscured by obstacles. We then determine the positions and dimensions of all existing obstacles by calculating the occupied symbol areas. The method is implemented as part of a robot-vision system for fully automated stockkeeping. In this paper the results are shown using a MATLAB implementation. (More)

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Paper citation in several formats:
Al Zeer, G.; Nabout, A. and Tibken, B. (2009). OBSTACLE DETECTION USING STRUCTURED BACKGROUND. In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-674-000-9; ISSN 2184-2809, SciTePress, pages 439-444. DOI: 10.5220/0002209004390444

@conference{icinco09,
author={Ghaida {Al Zeer}. and Adnan Abou Nabout. and Bernd Tibken.},
title={OBSTACLE DETECTION USING STRUCTURED BACKGROUND},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2009},
pages={439-444},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002209004390444},
isbn={978-989-674-000-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - OBSTACLE DETECTION USING STRUCTURED BACKGROUND
SN - 978-989-674-000-9
IS - 2184-2809
AU - Al Zeer, G.
AU - Nabout, A.
AU - Tibken, B.
PY - 2009
SP - 439
EP - 444
DO - 10.5220/0002209004390444
PB - SciTePress

- Science and Technology Publications, Lda.
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