A real time terrain recognition method for mobile robot moving

Jun Wei Chang, Rong Jyue Wang, Wen June Wang

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

This study proposes a real time terrain recognition method for a mobile robot moving on uneven terrain. A RGB-D sensor called XtionPro is mounted on the top layer of robot to capture terrain depth image. To estimate the captured terrain depth image, a fast terrain estimation method based on virtual depth image technique and image subtraction is proposed. The proposed method provides an accurate elevation map of the front terrain. Finally, according the leading edge extracted from the elevation map, the robot can recognize that the front terrain is travelable or un-travelable.

Original languageEnglish
Title of host publication2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781467389662
DOIs
StatePublished - 24 Aug 2016
Event2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 - Puli, Taiwan
Duration: 7 Jul 20169 Jul 2016

Publication series

Name2016 IEEE International Conference on System Science and Engineering, ICSSE 2016

Conference

Conference2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
Country/TerritoryTaiwan
CityPuli
Period7/07/169/07/16

Keywords

  • depth image
  • mobile robot
  • Terrain recognition

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