Sky Region Detection in a Single Image for Autonomous Ground Robot Navigation
文献类型：期刊论文
| 作者 | Shen, YH(沈晔湖)
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2013-10-23 |
| 卷号 | 10期号:0 |
| 关键词 | Sky Detection Gradient Information Energy Function Optimization Robot Navigation |
| 通讯作者 | Shen, YH(沈晔湖) |
| 英文摘要 | The sky region in an image provides horizontal and background information for autonomous ground robots and is important for vision-based autonomous ground robot navigation. This paper proposes a sky region detection algorithm within a single image based on gradient information and energy function optimization. Unlike most existing methods, the proposed algorithm is applicable to both colour and greyscale images. Firstly, the gradient information of the image is obtained. Then, the optimal segmentation threshold in the gradient domain is calculated according to the energy function optimization and the preliminary sky region is estimated. Finally, a post-processing method is applied in order to refine the preliminary sky region detection result when no sky region appears in the image or when objects extrude from the ground. Experimental results have proven that the detection accuracy is greater than 95% in our test set with 1,000 images, while the processing time is about 150ms for an image with a resolution of 640x480 on a modern laptop using only a single core. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000325964900001 |
| 公开日期 | 2014-01-15 |
| 源URL | [http://ir.sinano.ac.cn/handle/332007/1398]  |
| 专题 | 苏州纳米技术与纳米仿生研究所_系统集成与IC设计部_张耀辉团队 |
| 通讯作者 | Shen, YH(沈晔湖) |
| 推荐引用方式 GB/T 7714 | Shen, YH. Sky Region Detection in a Single Image for Autonomous Ground Robot Navigation[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2013,10(0). |
| APA | Shen, YH.(2013).Sky Region Detection in a Single Image for Autonomous Ground Robot Navigation.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,10(0). |
| MLA | Shen, YH."Sky Region Detection in a Single Image for Autonomous Ground Robot Navigation".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 10.0(2013). |
入库方式： OAI收割
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。