지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,771 - 1,776 (6page)
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초록· 키워드
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The objective of this paper is to propose a method for navigating a vision-based service robot using stereo vision and Kalman Filtering. We have develop modules for face recognition system, visual tracking and multiple moving obstacles avoidance using stereo camera. Someone that walks will be identified as moving obstacle and we propose a method to avoid the multiple moving obstacles. Kalman filtering for distance estimation using stereo camera used for stability of measurement and removing noise from the input images. To overcome the inaccuracies of vision sensor, Bayesian approach is used for estimate the absense and direction of obstacles. Algorithms for moving obstacles avoidance method proposed and experiment results implemented to a service robot also presented. Our system can overcome the drawbacks of popular obstacle avoidance methods because it provides a complete mechanism for a vision-based service robot so that it can avoid the moving obstacles.Various experiments show that our proposed method very fast, and successfully implemented to service robot called Srikandi III in our laboratory.
목차
Abstract
1. INTRODUCTION
2. PROPOSED METHOD
3. EXPERIMENTAL RESULTS
4. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000915710