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Authors: Christian Küblbeck ; Roland Ach and Andreas Ernst

Affiliation: Fraunhofer Institute for Integrated Circuits, Germany

Keyword(s): stereo, obstacle detection, census transformation, SNoW classifier.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications ; Vision, Recognition and Reconstruction

Abstract: In this paper we present an approach for a mobile robot to avoid obstacles by using a stereo-camera system mounted on it. We use the “census transformation” to generate the features for the correspondence search. We train two SNoW (Spare Network of Winnovs)-classifiers, one for the decision wether to move straight forward or to evade and a second one for deciding whether to turn left or right when evading. For training we use a sample set collected by manually moving around with the robot platform. We evaluate the performance of the whole recognition chain (feature generation and classification) using ROC-curves. Real world experiments show the mobile robot to safely avoid obstacles. Problems still arise when approaching steps or low obstacles due to limitations in the camera setup. We propose to solve this problem using a stereo camera system capable of pan and tilt movements.

CC BY-NC-ND 4.0

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Paper citation in several formats:
Küblbeck, C.; Ach, R. and Ernst, A. (2005). STEREO IMAGE BASED COLLISION PREVENTION USING THE CENSUS TRANSFORM AND THE SNOW CLASSIFIER. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 447-454. DOI: 10.5220/0001184804470454

@conference{icinco05,
author={Christian Küblbeck. and Roland Ach. and Andreas Ernst.},
title={STEREO IMAGE BASED COLLISION PREVENTION USING THE CENSUS TRANSFORM AND THE SNOW CLASSIFIER},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={447-454},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001184804470454},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - STEREO IMAGE BASED COLLISION PREVENTION USING THE CENSUS TRANSFORM AND THE SNOW CLASSIFIER
SN - 972-8865-30-9
IS - 2184-2809
AU - Küblbeck, C.
AU - Ach, R.
AU - Ernst, A.
PY - 2005
SP - 447
EP - 454
DO - 10.5220/0001184804470454
PB - SciTePress

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