IMAGE SIGNAL PROCESSING FOR VISUAL DOOR PASSING WITH AN OMNIDIRECTIONAL CAMERA

Luis Felipe Posada, Thomas Nierobisch, Frank Hoffmann, Torsten Bertram

Abstract

This paper proposes a novel framework for vision based door traversal that contributes to the ultimate goal of purely vision based mobile robot navigation. The door detection, door tracking and door traversal is accomplished by processing omnidirectional images. In door detection candidate line segments detected in the image are grouped and matched with prototypical door patterns. In door localisation and tracking a Kalman filter aggregates the visual information with the robots odometry. Door traversal is accomplished by a 2D visual servoing approach. The feasibility and robustness of the scheme are confirmed and validated in several robotic experiments in an office environment.

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Paper Citation


in Harvard Style

Felipe Posada L., Nierobisch T., Hoffmann F. and Bertram T. (2009). IMAGE SIGNAL PROCESSING FOR VISUAL DOOR PASSING WITH AN OMNIDIRECTIONAL CAMERA . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 473-480. DOI: 10.5220/0001791404730480


in Bibtex Style

@conference{visapp09,
author={Luis Felipe Posada and Thomas Nierobisch and Frank Hoffmann and Torsten Bertram},
title={IMAGE SIGNAL PROCESSING FOR VISUAL DOOR PASSING WITH AN OMNIDIRECTIONAL CAMERA},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={473-480},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001791404730480},
isbn={978-989-8111-69-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)
TI - IMAGE SIGNAL PROCESSING FOR VISUAL DOOR PASSING WITH AN OMNIDIRECTIONAL CAMERA
SN - 978-989-8111-69-2
AU - Felipe Posada L.
AU - Nierobisch T.
AU - Hoffmann F.
AU - Bertram T.
PY - 2009
SP - 473
EP - 480
DO - 10.5220/0001791404730480