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FUZZY FREE PATH DETECTION BASED ON DENSE DISPARITY MAPS OBTAINED FROM STEREO CAMERAS

NURIA ORTIGOSA, SAMUEL MORILLAS, GUILLERMO PERIS-FAJARNÉS, LARISA DUNAI
2012 International Journal of Uncertainty Fuzziness and Knowledge-Based Systems  
By applying least-squares fitting over groups of disparity maps columns to a linear model, free paths are detected by giving a certainty using a fuzzy rule.  ...  In this paper we propose a fuzzy method to detect free paths in real-time using digital stereo images.  ...  In disparity maps, disparity values decrease linearly from the bottom of the image to the top in obstacle-free areas, so free paths can be detected faster with less computational cost looking for pixels  ... 
doi:10.1142/s0218488512500122 fatcat:gqbkxokfrjcqfhq43lepdss2jq

Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

Nuria Ortigosa, Samuel Morillas
2013 Journal of Intelligent and Robotic Systems  
A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed.  ...  It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user.  ...  In this paper, a new fuzzy method for free path detection in a navigation system for visually impaired users has been proposed.  ... 
doi:10.1007/s10846-013-9997-1 fatcat:ncxtme4f7jaknfqj55gydvw2p4

Depth map estimation methodology for detecting free-obstacle navigation areas [article]

Sergio Trejo and Karla Martinez and Gerardo Flores
2019 arXiv   pre-print
To determine if there is a free space large enough for the quadrotor to pass through, our approach marks an area inside the disparity map by using the Kalman Filter output information.  ...  This paper presents a vision-based methodology which makes use of a stereo camera rig and a one dimension LiDAR to estimate free obstacle areas for quadrotor navigation.  ...  For the purpose of this paper we considered two important parameters for disparity map estimation: the quality of the depth map and the computation time.  ... 
arXiv:1905.05946v1 fatcat:wp5xpct5wncslpzbkmhlxigmtu

Stereo vision-based subpixel level free space boundary detection using modified u-disparity and preview dynamic programming

Ho Gi Jung, Jae Kyu Suhr
2015 2015 IEEE Intelligent Vehicles Symposium (IV)  
The conventional method detects peak series by exploiting dynamic programming in u-disparity made by accumulating disparity maps depending on the u coordinate.  ...  This paper proposes a method enhancing the accuracy of u-disparity-based free space boundary estimation to the subpixel level.  ...  It could be implemented by detecting peak series in v-disparity. Free space boundary estimation detects the boundary between the road surface and obstacles.  ... 
doi:10.1109/ivs.2015.7225726 dblp:conf/ivs/JungS15 fatcat:uzxsrqh7hrbdhjkilpvi6bd4xq

Reactive avoidance using embedded stereo vision for MAV flight

Helen Oleynikova, Dominik Honegger, Marc Pollefeys
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
While other systems exist that do high-level mapping and 3D path planning for obstacle avoidance, most of these systems require high-powered CPUs on-board or off-board control from a ground station.  ...  We also suggest our system as a light-weight safety layer for systems undertaking more complex tasks, like mapping the environment.  ...  PATH PLANNING In this section, we describe how we use the U-map obstacle detections to build a map of the environment, and then how that map is used to plan a collision-free path for the robot.  ... 
doi:10.1109/icra.2015.7138979 dblp:conf/icra/OleynikovaHP15 fatcat:7m3osv4wwncgle4mg4czgckwdu

Stereo-Vision Based Road Slope Estimation and Free Space Detection on Road
스테레오비전 기반의 도로의 기울기 추정과 자유주행공간 검출

Ki-Yong Lee, Joon-Woong Lee
2011 Journal of Institute of Control Robotics and Systems  
This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation.  ...  To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle's region, using u-disparity image and dynamic programming.  ...  Fig. 10 . 10 Obstacle disparity map. 11 . u .Fig. 11. u-disparity image. Fig. 12 . 12 u-disparity image and u-line (red line).13.. Fig. 13 . 13 Free space detection. 실험 IV.  ... 
doi:10.5302/j.icros.2011.17.3.199 fatcat:mr3mabbfzjcedfsqskmflm4tq4

Semi-autonomous wheelchair system using stereoscopic cameras

J.S. Nguyen, T.H. Nguyen, H.T. Nguyen
2009 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
free space and the centre point of the free space is calculated to form a target for a temporary path planning routine and path following.  ...  Free-space Detection and Collision Avoidance Standard collision avoidance is adopted for detected obstacles, however to allow the wheelchair to move through relatively narrow gaps between obstacles, the  ... 
doi:10.1109/iembs.2009.5334266 pmid:19964855 fatcat:rkl6w2ixtnaubp4ewajlh2j5cu

A sensor-independent approach to RBPF SLAM - Map Match SLAM applied to visual mapping

C. Schroeter, H.-M. Gross
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we show how RBPF SLAM can also be applied for mapping and path reconstruction with a stereo camera or a single monocular camera, respectively.  ...  In our previous work [14] , we have introduced the Map Match SLAM approach for mapping with sonar range readings: Extending the grid-based Rao-Blackwellized Particle Filter SLAM approach, in Map Match  ...  For the map matching, eq. 4 is used again, but since no free cells are detected, only matching occupied cells contribute to the sum value.  ... 
doi:10.1109/iros.2008.4651137 dblp:conf/iros/SchroterG08 fatcat:y4goanwpf5bhhljoavxtkax2je

Stereo Vision-based Path Finder for Visually Impaired

2020 International journal of recent technology and engineering  
The processing unit generates a disparity map and a segmentation algorithm extracts information about the relative distance of obstacles from the user.  ...  The subjects walked in a controlled test environment with a varying number of obstacles placed in their path.  ...  Authors would also like to thank members and students of National Association of blind and rehabilitation centre, Mumbai, NAB school for the blind, Nashik for their co-operation during the validation process  ... 
doi:10.35940/ijrte.c4603.099320 fatcat:fzxh5lybmncificowbmzlxbjwa

Fusing Laser Scanner and Stereo Camera in Evidential Grid Maps [article]

Michelle Valente, Cyril Joly, Arnaud de la Fortelle
2019 arXiv   pre-print
A method to create this representation from 2 very different sensors, laser scanner and stereo camera, is presented along with algorithms for data fusion and temporal updates.  ...  This paper introduces an enriched representation of the world, more precisely of the potential existence of obstacles through an evidential grid map.  ...  Once this is executed, the disparity map between the images is computed and the method for obstacle detection and mapping described below is performed. 1) V-disparity map and ground estimation: the first  ... 
arXiv:1805.10046v2 fatcat:etw7vz22grgwvlzwbonugxn5mm

A 2D/3D Vision Based Approach Applied to Road Detection in Urban Environments

Giovani B. Vitor, Danilo A. Lima, Alessandro C. Victorino, Janito V. Ferreira
2013 2013 IEEE Intelligent Vehicles Symposium (IV)  
Whereas the 3D layer return labels, that are classified by the V-Disparity technique, to free spaces, obstacles and non-classified area.  ...  This paper presents an approach for road detection based on image segmentation. This segmentation is resulted from merging 2D and 3D image processing data from a stereo vision system.  ...  Fig. 5 . 5 The v-disparity map from the moving average technique (left), and detected planes (red lines) for the free space (right).  ... 
doi:10.1109/ivs.2013.6629589 dblp:conf/ivs/VitorLVF13 fatcat:olcoqppj6vccdkhu3qvipckcau

Obstacle Avoidance Procedure and Lee Algorithm Based Path Replanner for Autonomous Mobile Platforms

Maciej Polańczyk, Michał Strzelecki, Krzysztof Ślot
2013 International Journal of Electronics and Telecommunications  
First issue relates to obstacle map, estimated based on stereovision images. It provides a basis for further platform path-planning.  ...  Second procedure, based on well-known Lees algorithm is designed for obtaining vehicle collisionless path.  ...  Also, as the process of detecting objects and building a map is based only on disparity image, homogenous obstacles can be missed.  ... 
doi:10.2478/eletel-2013-0010 fatcat:nsuszjwv3ja5tdfnozbif5acry

Non-flat Ground Detection Based on A Local Descriptor [article]

Kangru Wang, Lei Qu, Lili Chen, Yuzhang Gu, DongChen zhu, Xiaolin Zhang
2018 arXiv   pre-print
The detection of road and free space remains challenging for non-flat plane, especially with the varying latitudinal and longitudinal slope or in the case of multi-ground plane.  ...  And we also present a complete framework to detect the ground plane regions base on the disparity texture image with convolutional neural network architecture.  ...  detect free space.  ... 
arXiv:1609.08436v9 fatcat:hznxjgirdjbejf2hq5uis5ttee

Review of Vision-Based Robot Navigation Method

Budi Rahmani, Agfianto Eko Putra, Agus Harjoko, Tri Kuntoro Priyambodo
2015 IAES International Journal of Robotics and Automation  
using no map (mapless).  ...  The methods are distinguished whether the robot is equipped with the navigation map (map-based), the map is built incrementally as robot observes the environment (map-building), or the robot navigates  ...  Detection of free space is done by extracting the road surface without any obstacle.  ... 
doi:10.11591/ijra.v4i4.pp254-261 fatcat:eyiaewqo6vdbdbwsjvwu5ynlfm

Road Segmentation Supervised by an Extended V-Disparity Algorithm for Autonomous Navigation

Nicolas Soquet, Didier Aubert, Nicolas Hautiere
2007 IEEE Intelligent Vehicles Symposium  
The v-disparity algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the disparity map.  ...  It deals with free space estimation by stereovision and road detection by color segmentation.  ...  [3] uses a similar approach for obstacle detection by marking as obstacles the regions with similar disparity. III. ROAD PROFILE Our approach needs to estimate the free space.  ... 
doi:10.1109/ivs.2007.4290108 fatcat:bds2wkowobcnde3mdnifyspxzi
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