DRIVABLE FLOOR DETECTION WITH MONOCULAR VISUAL PERCEPTION

Year 2011, Volume: 3 Issue: 1, 11 - 22, 01.03.2011

Onur Şencan Evangelos Sarıyanidi Hakan Temeltaş

Abstract

In this study, vision-based scene analysis techniques are studied for the purpose of improved navigation abilities for the mobile robots with a single camera. In this approach, first the camera searches the scenery in order to detect major vertices. In the next step, using geometrical properties of the drivable floor regions in which the mobile robot can without collusion, are defined. Experimental works are implemented on a differential drive robot with monocular camera and the success of the approach is demonstrated

Keywords

robot vision, scene analysis, drivable floor regions detection, autonomous mobile robots, monocular vision perception

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