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Obstacle Detection Algorithm Using Forward-Viewing Mono Camera
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 Title & Authors
Obstacle Detection Algorithm Using Forward-Viewing Mono Camera
Lee, Tae-Jae; Lee, Hoon; Cho, Dong-Il Dan;
This paper presents a new forward-viewing mono-camera based obstacle detection algorithm for mobile robots. The proposed method extracts the coarse location of an obstacle in an image using inverse perspective mapping technique from sequential images. In the next step, graph-cut based image labeling is conducted for estimating the exact obstacle boundary. The graph-cut based labeling algorithm labels the image pixels as either obstacle or floor as the final outcome. Experiments are performed to verify the obstacle detection performance of the developed algorithm in several examples, including a book, box, towel, and flower pot. The low illumination condition, low color contrast between floor and obstacle, and floor pattern cases are also tested.
obstacle detection;mono-camera;segmentation;
 Cited by
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