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Proceedings Paper

Navigating a path delineated by colored flags: an approach for a 2011 IGVC requirement
Author(s): Alex Szmatula; Matt Parrish; Mohan Krishnan; Mark Paulik; Utayba Mohammad; Chaomin Luo
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Paper Abstract

In this work, we address a situation presented as a new requirement for the Autonomous Challenge portion of the 2011 Intelligent Ground Vehicle Competition (IGVC). This new requirement is to navigate between red and green colored flags placed within the normal white painted lane lines. The regular vision algorithms had to be enhanced to reliably identify and localize the colored flags, while the Navigation algorithms had to be modified to satisfy the constraints placed on the robot while transiting through the flag region. The challenge in finding a solution was the size of the flags, the possibility of loosing them against the background, as well as their movement in the wind. The attendant possibility of false positives and negatives also needed to be addressed to increase reliability of detection. Preliminary tests on the robot have produced positive results.

Paper Details

Date Published: 23 January 2012
PDF: 16 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 830111 (23 January 2012); doi: 10.1117/12.912124
Show Author Affiliations
Alex Szmatula, Univ. of Detroit Mercy (United States)
Matt Parrish, Univ. of Detroit Mercy (United States)
Mohan Krishnan, Univ. of Detroit Mercy (United States)
Mark Paulik, Univ. of Detroit Mercy (United States)
Utayba Mohammad, Univ. of Detroit Mercy (United States)
Chaomin Luo, Univ. of Detroit Mercy (United States)


Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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