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Vision Navigation in Multi-Scene and Unstructured Road for Mobility Robot

Author: ZhangZhenWu
Tutor: DingDongHua
School: Tsinghua University
Course: Computer Science and Technology
Keywords: Visual navigation Vehicle Detection Road detection Mathematical Morphology
CLC: TP242
Type: Master's thesis
Year: 2005
Downloads: 380
Quote: 2
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Abstract


Outdoor mobile robot robotics research is an important branch of research , the research along the road of structured and unstructured road in two directions . Among them, for highways, roads and other structural road generally for outdoor mobile robot research has become a stage of civil transportation sector mainstream mobile robotics research , and there have been many successful system . Unstructured environment , there are many visual navigation studies , but overall is still in the immature stage , the existing image detection technology and image understanding, even though it can make the mobile robot to work in a particular environment , but from a real adaptation capacity is still a long way to go. Paper work done in two parts , in a structured way , the study of multi- scenario visual navigation technology , the main consideration of the moving vehicle detection method , the results are presented based on a variety of features combined with the new detection method : that is the first to use vehicle testing to establish the shadow region of interest , and then the body symmetry complete body positioning . Another part of the thesis work is unstructured road for mobile robot visual navigation conducted a preliminary study . The primary outcome was proposed based on the theory of mathematical morphology road detection methods , both for highways and other structures of the road, but also can be used for those who do not sign , road edge is not obvious , and there is shade -covered plain unstructured road . By analyzing the characteristics of the road , the image so morphological opening , so that both sides of the road and trees, sky and other disturbed areas gradually separated , and finally the use of regional segmentation algorithm will find the road area . This method is affected by shadows, light and other less affected.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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