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Proceedings Paper

Scene Segmentation For Autonomous Robotic Navigation Using Sequential Laser Projected Structured Light
Author(s): C. David Brown; Charles S. Ih; Gonzalo R. Arce; David A. Fertell
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Paper Abstract

Vision systems for mobile robots or autonomous vehicles navigating in an unknown terrain environment must provide a rapid and accurate method of segmenting the scene ahead into regions of pathway and background. A major distinguishing feature between the pathway and background is the three dimensional texture of these two regions. Typical methods of textural image segmentation are very computationally intensive, often lack the required robustness, and are incapable of sensing the three dimensional texture of various regions of the scene. A method is presented where scanned laser projected lines of structured light, viewed by a stereoscopically located single video camera, resulted in an image in which the three dimensional characteristics of the scene were represented by the discontinuity of the projected lines. This image was conducive to processing with simple regional operators to classify regions as pathway or background. Design of some operators and application methods, and demonstration on sample images are presented. This method provides rapid and robust scene segmentation capability that has been implemented on a microcomputer in near real time, and should result in higher speed and more reliable robotic or autonomous navigation in unstructured environments.

Paper Details

Date Published: 1 January 1987
PDF: 9 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968242
Show Author Affiliations
C. David Brown, U.S. Army CSTA (United States)
Charles S. Ih, University of Delaware (United States)
Gonzalo R. Arce, University of Delaware (United States)
David A. Fertell, University of Delaware (United States)


Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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