A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION

Francisco Bonin-Font, Alberto Ortiz, Gabriel Oliver

2009

Abstract

This paper describes a new vision-based reactive navigation strategy addressed to mobile robots, comprising obstacle detection and avoidance. Most of the reactive vision-based systems base their strength uniquely on the computation and analysis of quantitative information. The proposed algorithm combines a quantitative process with a set of qualitative rules to converge in a robust technique to safely explore unknown environments. The process includes a feature detector/tracker, a new feature classifier based on the Inverse Perspective Transformation which discriminates between object and floor points, and a qualitative method to determine the obstacle contour, their location in the image, and the course that the robot must take. The new strategy has been implemented on mobile robots with a single camera showing promising results.

Paper Citation

in Harvard Style

Bonin-Font F., Ortiz A. and Oliver G. (2009). A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 141-146. DOI: 10.5220/0002171301410146

in Bibtex Style

@conference{icinco09,
author={Francisco Bonin-Font and Alberto Ortiz and Gabriel Oliver},
title={A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002171301410146},
isbn={978-989-674-000-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION
SN - 978-989-674-000-9
AU - Bonin-Font F.
AU - Ortiz A.
AU - Oliver G.
PY - 2009
SP - 141
EP - 146
DO - 10.5220/0002171301410146