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Proceedings Paper

Visual environment recognition for robot path planning using template matched filters
Author(s): Ulises Orozco-Rosas; Kenia Picos; Víctor H. Díaz-Ramírez; Oscar Montiel; Roberto Sepúlveda
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Paper Abstract

A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple possible ways. In order to generate an efficient and safe path for mobile robot navigation, the proposal employs a pseudo-bacterial potential field algorithm to derive optimal potential field functions using evolutionary computation. Simulation results are evaluated in synthetic and real scenes in terms of accuracy of environment recognition and efficiency of path planning computation.

Paper Details

Date Published: 24 August 2017
PDF: 11 pages
Proc. SPIE 10395, Optics and Photonics for Information Processing XI, 103950N (24 August 2017); doi: 10.1117/12.2273596
Show Author Affiliations
Ulises Orozco-Rosas, CETYS Univ. (Mexico)
Instituto Politécnico Nacional - CITEDI (Mexico)
Kenia Picos, CETYS Univ. (Mexico)
Instituto Politécnico Nacional - CITEDI (Mexico)
Víctor H. Díaz-Ramírez, Instituto Politécnico Nacional - CITEDI (Mexico)
Oscar Montiel, Instituto Politécnico Nacional - CITEDI (Mexico)
Roberto Sepúlveda, Instituto Politécnico Nacional - CITEDI (Mexico)


Published in SPIE Proceedings Vol. 10395:
Optics and Photonics for Information Processing XI
Khan M. Iftekharuddin; Abdul A. S. Awwal; Mireya García Vázquez; Andrés Márquez; Víctor H. Diaz-Ramirez, Editor(s)

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