- Research Article
- Open Access
- Published:
Mobile Robot Visual Navigation Using Multiple Features
EURASIP Journal on Advances in Signal Processing volume 2005, Article number: 191358 (2005)
Abstract
We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space, (iii) a novel projective construction for measuring affine height, and (iv) an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( https://creativecommons.org/licenses/by/2.0 ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
About this article
Cite this article
Pears, N., Liang, B. & Chen, Z. Mobile Robot Visual Navigation Using Multiple Features. EURASIP J. Adv. Signal Process. 2005, 191358 (2005). https://doi.org/10.1155/ASP.2005.2250
Received:
Revised:
Published:
DOI: https://doi.org/10.1155/ASP.2005.2250
Keywords and phrases:
- plane segmentation
- image rectification
- plane and parallax
- obstacle detection
- mobile robots