Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors
Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is tha...
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Format: | Article |
Language: | English |
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MDPI AG
2017-09-01
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Series: | Sensors |
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Online Access: | https://www.mdpi.com/1424-8220/17/9/2101 |
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author | Fucheng Deng Xiaorui Zhu Chao He |
author_facet | Fucheng Deng Xiaorui Zhu Chao He |
author_sort | Fucheng Deng |
collection | DOAJ |
description | Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications. |
first_indexed | 2024-04-11T11:54:08Z |
format | Article |
id | doaj.art-6578248b8f2b4d04bc905b2a9ced01b7 |
institution | Directory Open Access Journal |
issn | 1424-8220 |
language | English |
last_indexed | 2024-04-11T11:54:08Z |
publishDate | 2017-09-01 |
publisher | MDPI AG |
record_format | Article |
series | Sensors |
spelling | doaj.art-6578248b8f2b4d04bc905b2a9ced01b72022-12-22T04:25:14ZengMDPI AGSensors1424-82202017-09-01179210110.3390/s17092101s17092101Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the OutdoorsFucheng Deng0Xiaorui Zhu1Chao He2Harbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, ChinaHarbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, ChinaHarbin Institute of Technology (Shenzhen), Shenzhen 518055, Guangdong, ChinaEnvironment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.https://www.mdpi.com/1424-8220/17/9/2101binocular sensortraversable region detectionmobile robotoutdoors |
spellingShingle | Fucheng Deng Xiaorui Zhu Chao He Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors Sensors binocular sensor traversable region detection mobile robot outdoors |
title | Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors |
title_full | Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors |
title_fullStr | Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors |
title_full_unstemmed | Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors |
title_short | Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors |
title_sort | vision based real time traversable region detection for mobile robot in the outdoors |
topic | binocular sensor traversable region detection mobile robot outdoors |
url | https://www.mdpi.com/1424-8220/17/9/2101 |
work_keys_str_mv | AT fuchengdeng visionbasedrealtimetraversableregiondetectionformobilerobotintheoutdoors AT xiaoruizhu visionbasedrealtimetraversableregiondetectionformobilerobotintheoutdoors AT chaohe visionbasedrealtimetraversableregiondetectionformobilerobotintheoutdoors |