A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION

Francisco Bonin-Font, Alberto Ortiz, Gabriel Oliver

Abstract

This paper describes a new vision-based reactive navigation strategy addressed to mobile robots, comprising obstacle detection and avoidance. Most of the reactive vision-based systems base their strength uniquely on the computation and analysis of quantitative information. The proposed algorithm combines a quantitative process with a set of qualitative rules to converge in a robust technique to safely explore unknown environments. The process includes a feature detector/tracker, a new feature classifier based on the Inverse Perspective Transformation which discriminates between object and floor points, and a qualitative method to determine the obstacle contour, their location in the image, and the course that the robot must take. The new strategy has been implemented on mobile robots with a single camera showing promising results.

References

  1. Bertozzi, M. and Broggi, A. (1997). Vision-based vehicle guidance. Computer, 30(7):49-55.
  2. Bonin-Font, F., Ortiz, A., and Oliver, G. (2008). A novel image feature classifier based on inverse perspective transformation. Technical report, University of the Balearic Islands. A-01-2008 (http://dmi.uib.es/fbonin).
  3. Borenstein, J. and Koren, I. (1991). The vector field histogram - fast obstacle avoidance for mobile robots. Journal of Robotics and Automation, 7(3):278-288.
  4. Canny, J. (1986). A computational approach to edge detection. IEEE TPAMI, 8(6):679 - 698.
  5. Duda, R. and Hart, P. (1973). Pattern Classification and Scene Analysis. John Wiley and Sons Publisher.
  6. Harris, C. and Stephens, M. (1988). Combined corner and edge detector. In Proc. of the AVC, pages 147-151.
  7. Hartley, R. and Zisserman, A. (2003). Multiple view geometry in computer vision. Cambridge University Press, ISBN: 0521623049.
  8. Lowe, D. (2004). Distinctive image features from scaleinvariant keypoints. International Journal of Computer Vision, 60(2):91-110.
  9. Ma, G., Park, S., Mller-Schneiders, S., Ioffe, A., and Kummert, A. (2007). Vision-based pedestrian detection - reliable pedestrian candidate detection by combining ipm and a 1d profile. In Proc. of the IEEE ITSC, pages 137-142.
  10. Mallot, H., Buelthoff, H., Little, J., and Bohrer, S. (1991). Inverse perspective mapping simplifies optical flow computation and obstacle detection. Biological Cybernetics, 64(3):177-185.
  11. Mikolajczyk, K. and Schmid, C. (2005). A performance evaluation of local descriptors. IEEE TPAMI, 27(10):1615-1630.
  12. Rodrigo, R., Chen, Z., and Samarabandu, J. (2006). Feature motion for monocular robot navigation. In Proc. of the ICIA, pages 201-205.
  13. Zhou, J. and Li, B. (2006). Homography-based ground detection for a mobile robot platform using a single camera. In Proc. of the IEEE ICRA, pages 4100-4101.
Download


Paper Citation


in Harvard Style

Bonin-Font F., Ortiz A. and Oliver G. (2009). A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 141-146. DOI: 10.5220/0002171301410146


in Bibtex Style

@conference{icinco09,
author={Francisco Bonin-Font and Alberto Ortiz and Gabriel Oliver},
title={A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002171301410146},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A NOVEL VISION-BASED REACTIVE NAVIGATION STRATEGY BASED ON INVERSE PERSPECTIVE TRANSFORMATION
SN - 978-989-674-000-9
AU - Bonin-Font F.
AU - Ortiz A.
AU - Oliver G.
PY - 2009
SP - 141
EP - 146
DO - 10.5220/0002171301410146