Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Recognition method of small-obstacles using a camera for a mobile robot

이동로봇을 위한 카메라 1대를 이용한 소형 장애물 인식방법에 관한 연구

  • 김갑순 (경상대학교 제어계측공학과)
  • Published : 2005.09.01
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Abstract

This paper describes the recognition method of small-obstacles using a camera for a mobile robot in indoor environment. The technique of image processing using a camera has been widely used for an automaton of industrial system, an inspection of inferior goods, a lookout of an invader, and a vision sensor of intelligent robot. Mobile robot could meet small-obstacles such as a small plastic bottle of about 0.5 l in quantity, a small box of $7{\times}7{\times}7cm^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the recognition of small-obstacles using a camera and program. In this paper, 2-D image processing algorism and method fur recognition of small-obstacles using a camera for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could judge the size and the position of small-obstacles accurately.

Keywords

References

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