Recognition of walkway area based on color image segmentation and autonomous mobile robot walkway following

Kazunori Ohno, Takashi Tsubouchi, Shoichi Maeyama, Shin'ichi Yuta

Research output: Contribution to journalArticle

2 Citations (Scopus)


This paper describes a method for a mobile robot walkway following behavior based on color image segmentation. The authors aim at accomplishing outdoor navigation in the campus walkway environment by mobile robot on which a normal Personal Computer is equipped for image processing and motion control. Although Thorpe et al. proposed a method for a road following based on color image segmentation, their approach is not suitable for such a PC computational power. The authors referred to this framework, and adapted and modified the Thorpe's approach to decrease the computational load, The authors implemented the adapted method onto a real mobile robot, and accomplished walkway following experiments under various daylight conditions.

Original languageEnglish
Pages (from-to)1380-1387
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number5
Publication statusPublished - 2004 May 1



  • Color Image Segmentation
  • Image Processing
  • Moving Robot
  • Personal Computer
  • Recognition
  • Walkway Following

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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