Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
Appearance-Based Obstacle Detection with Monocular Color Vision
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Visual Navigation for Mobile Robots: A Survey
Journal of Intelligent and Robotic Systems
Statistical Background Subtraction Using Spatial Cues
IEEE Transactions on Circuits and Systems for Video Technology
ViBe: A Universal Background Subtraction Algorithm for Video Sequences
IEEE Transactions on Image Processing
Hi-index | 0.00 |
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.