Machine learning: a guide to current research
Machine learning: a guide to current research
Probabilistic reasoning in intelligent systems: networks of plausible inference
Probabilistic reasoning in intelligent systems: networks of plausible inference
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Theory of Robot Control
Color Recognition in Outdoor Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Support Vector Data Description
Machine Learning
Learning to Detect Natural Image Boundaries Using Local Brightness, Color, and Texture Cues
IEEE Transactions on Pattern Analysis and Machine Intelligence
Motion planning algorithms of an omni-directional mobile robot with active caster wheels
Intelligent Service Robotics
Vision-based navigation with efficient scene recognition
Intelligent Service Robotics
Vision-based global localization and mapping for mobile robots
IEEE Transactions on Robotics
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This paper presents task-oriented navigation algorithms used for an outdoor environment. The goals of the navigation are recognizing colored border lines on both sides of a path, avoiding obstacles on the path, and navigating the given path. To recognize the colored border lines with one camera, we apply a support vector data description method, which employs six color features extracted from two color models. To avoid collision with obstacles on the path, we fuse the data of the lines measured by a camera and the obstacles measured by a laser range finder. These algorithms were applied to autonomous navigation of about 100 m long curved track. We demonstrate that a four-wheel skid-steering mobile robot successfully finishes the mission.