A mobile robot campus walkway following with daylight-change-proof walkway color image segmentation

Kazunori Ohno, Takashi Tsubouchi, Shoichi Maeyama, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper describes a strategy of a mobile robot walkway following using color image. There are different colors in a walkway and lawn area alongside the walkway. The walkway area is extracted by an image processing. Color difference among walkway and waysides is considered in the image processing. Robustness against daylight change for segmentation of walkway area is also considered. The robot moves to the direction toward vanishing point of the walkway which is obtained from the image processing. Repeating these processes, the walkway following will be accomplished.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages77-83
Number of pages7
Volume1
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI
Duration: 2001 Oct 292001 Nov 3

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityMaui, HI
Period01/10/2901/11/3

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Keywords

  • Color image
  • Mobile robot
  • Navigation
  • Vision
  • Walkway following

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ohno, K., Tsubouchi, T., Maeyama, S., & Yuta, S. (2001). A mobile robot campus walkway following with daylight-change-proof walkway color image segmentation. In IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 77-83)