A real time terrain recognition method for mobile robot moving

Jun Wei Chang, Rong Jyue Wang, Wen June Wang

研究成果: 書貢獻/報告類型會議論文篇章同行評審

7 引文 斯高帕斯(Scopus)

摘要

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.

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主出版物標題2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781467389662
DOIs
出版狀態已出版 - 24 8月 2016
事件2016 IEEE International Conference on System Science and Engineering, ICSSE 2016 - Puli, Taiwan
持續時間: 7 7月 20169 7月 2016

出版系列

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

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???event.eventtypes.event.conference???2016 IEEE International Conference on System Science and Engineering, ICSSE 2016
國家/地區Taiwan
城市Puli
期間7/07/169/07/16

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