The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Obstacle Detection using Laser Scanner and Vision System for Path Planning on Autonomous Mobile Agents

무인 이동 개체의 경로 생성을 위한 레이저 스캐너와 비전 시스템의 데이터 융합을 통한 장애물 감지

  • Published : 2008.07.01
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Abstract

This paper proposes object detection algorithm using laser scanner and vision system for the path planning of autonomous mobile agents. As the scanner-based method can observe the obstacles in only two dimensions, it is hard to detect the shape and the number of obstacles. On the other hand, vision-based method is sensitive to the environment and has its difficulty in the accurate distance measurement. Thus, we combine these two methods based on K-means algorithm such that the obstacle avoidance and optimal path planning of autonomous mobile agents can be achieved.

Keywords

References

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