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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Main Authors: Fucheng Deng, Xiaorui Zhu, Chao He
Format: Article
Language:English
Published: MDPI AG 2017-09-01
Series:Sensors
Subjects:
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.
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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