PREDICTED POLAR MAPPING FOR MOVING OBSTACLE DETECTION

Young–Joong Kim, Beom–Soo Kim, Myo–Taeg Lim

Abstract

This paper presents the predicted polar mapping that is to improve the efficiency of an unexpected moving obstacle detecting system in a single vision-based robot. The polar mapping is used to simplify the segmentation of moving objects from the background and is performed with the focus of expansion (FOE) as the center. When the movement of the robot per a step becomes a bit large, then static objects or background are detected as moving objects. Thus, the velocity of the robot becomes so slow. Therefore, to enlarge the movement of the robot and to improve this system, we propose the predicted polar mapping that predicts the polar mapped image after robot moves to be admissible. In order to verify experimentally our proposed procedure, we make several comparative tests in the corridor.

References

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Paper Citation


in Harvard Style

Kim Y., Kim B. and Lim M. (2004). PREDICTED POLAR MAPPING FOR MOVING OBSTACLE DETECTION . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 421-424. DOI: 10.5220/0001127904210424


in Bibtex Style

@conference{icinco04,
author={Young–Joong Kim and Beom–Soo Kim and Myo–Taeg Lim},
title={PREDICTED POLAR MAPPING FOR MOVING OBSTACLE DETECTION},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={421-424},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001127904210424},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PREDICTED POLAR MAPPING FOR MOVING OBSTACLE DETECTION
SN - 972-8865-12-0
AU - Kim Y.
AU - Kim B.
AU - Lim M.
PY - 2004
SP - 421
EP - 424
DO - 10.5220/0001127904210424