A stairway detection algorithm based on vision for UGV stair climbing
文献类型：会议论文
| 作者 | Cong Y(丛杨) ; Li XM(李小毛); Liu J(刘霁); Tang YD(唐延东)
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| 出版日期 | 2008 |
| 会议名称 | IEEE International Conference on Networking, Sensing and Control |
| 会议日期 | April 6-8, 2008 |
| 会议地点 | Sanya, China |
| 关键词 | computer vision UGV stair climbing Gabor filter RANSAC |
| 页码 | 1806-1811 |
| 中文摘要 | In the paper, we present a vision based algorithm used to guide the Unmanned Ground Vehicles (UGV) for autonomous stairways climbing and implement it on UGV successfully. The reliability of guiding UGV to climb stairs requires evaluating two offset parameters: the position of vehicle on stairs and the orientation angle to stairs. The intention of our algorithm is to estimate these two parameters through extracting the stair edges robustly. To achieve this goal, we apply the Gabor filter to eliminate the influence of the illumination and keep edges, and propose a fast method to remove small lines. Finally we link stair edges, and estimate the offset parameters used to steer the vehicle by RANSAC algorithm. Experiments on various stairways including indoor and outdoor are given in various light conditions. The results validate our algorithm. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Syst, Man & Cybernet Soc |
| 会议录 | PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 1810-7869 |
| ISBN号 | 978-1-4244-1685-1 |
| WOS记录号 | WOS:000255017801164 |
| 源URL | [http://ir.sia.cn/handle/173321/8522]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Cong Y,Li XM,Liu J,et al. A stairway detection algorithm based on vision for UGV stair climbing[C]. 见:IEEE International Conference on Networking, Sensing and Control. Sanya, China. April 6-8, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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