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A stairway detection algorithm based on vision for UGV stair climbing
Cong Y(丛杨); Li XM(李小毛); Liu J(刘霁); Tang YD(唐延东)
Department机器人学研究室
Conference NameIEEE International Conference on Networking, Sensing and Control
Conference DateApril 6-8, 2008
Conference PlaceSanya, China
Author of SourceIEEE Syst, Man & Cybernet Soc
Source PublicationPROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2
PublisherIEEE
Publication PlaceNEW YORK
2008
Pages1806-1811
Indexed ByEI ; CPCI(ISTP)
EI Accession number20083411465268
WOS IDWOS:000255017801164
Contribution Rank1
ISSN1810-7869
ISBN978-1-4244-1685-1
KeywordComputer Vision Ugv Stair Climbing Gabor Filter Ransac
AbstractIn 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.
Language英语
Citation statistics
Cited Times:20[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8522
Collection机器人学研究室
Corresponding AuthorCong Y(丛杨)
Affiliation1.Robotic Laboratory, Shenyang Institute of Automation, Chinese Academy of Science, 110016, China
2.Graduate School, Chinese Academy of Science, Beijing 10038, China
Recommended Citation
GB/T 7714
Cong Y,Li XM,Liu J,et al. A stairway detection algorithm based on vision for UGV stair climbing[C]//IEEE Syst, Man & Cybernet Soc. NEW YORK:IEEE,2008:1806-1811.
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