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Proceedings Paper

Intelligent mobile robot system for path planning using stereo camera-based geometry information
Author(s): Jung-Hwan Ko; Dong-Choon Hwang; Yong-Woo Jung; Eun-Soo Kim
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Paper Abstract

In this paper, a new real-time and intelligent mobile robot system for path planning and navigation using stereo camera embedded on the pan/tilt system is proposed. In the proposed system, face area of a moving person is detected from a sequence of the stereo image pairs by using the YCbCr color model and using the disparity map obtained from the left and right images captured by the pan/tilt-controlled stereo camera system and depth information can be detected. And then, the distance between the mobile robot system and the face of the moving person can be calculated from the detected depth information. Accordingly, based-on the analysis of these data, three-dimensional objects can be detected. Finally, by using these detected data, 2-D spatial map for a visually guided robot that can plan paths, navigate surrounding objects and explore an indoor environment is constructed. From some experiments on target tracking with 480 frames of the sequential stereo images, it is analyzed that error ratio between the calculated and measured values of the relative position is found to be very low value of 1.4 % on average. Also, the proposed target tracking system has achieved a high speed of 0.04 sec/frame for target detection and 0.06 sec/frame for target tracking.

Paper Details

Date Published: 24 October 2005
PDF: 12 pages
Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060L (24 October 2005); doi: 10.1117/12.632032
Show Author Affiliations
Jung-Hwan Ko, Kwangwoon Univ. (South Korea)
Dong-Choon Hwang, Kwangwoon Univ (South Korea)
Yong-Woo Jung, Kwangwoon Univ (South Korea)
Eun-Soo Kim, Kwangwoon Univ. (South Korea)

Published in SPIE Proceedings Vol. 6006:
Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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