| 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)
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| Department | 机器人学研究室 |
| Conference Name | IEEE International Conference on Networking, Sensing and Control |
| Conference Date | April 6-8, 2008 |
| Conference Place | Sanya, China |
| Author of Source | IEEE Syst, Man & Cybernet Soc |
| Source Publication | PROCEEDINGS OF 2008 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL, VOLS 1 AND 2 |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2008 | |
| Pages | 1806-1811 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 20083411465268 |
| WOS ID | WOS:000255017801164 |
| Contribution Rank | 1 |
| ISSN | 1810-7869 |
| ISBN | 978-1-4244-1685-1 |
| Keyword | Computer Vision Ugv Stair Climbing Gabor Filter Ransac |
| Abstract | 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. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/8522 |
| Collection | 机器人学研究室 |
| Corresponding Author | Cong Y(丛杨) |
| Affiliation | 1.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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000181.pdf（2459KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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