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In this paper, we propose a real-time ground plane extraction and obstacle detection technique for mobile robot navigation based on a combination of segmentation and optical flow techniques using monocular image sequences. The ground plane, which is captured using a calibrated camera, mounted on a robot platform, has been segmented in a two step process. In the first step which is an offline process,...
In this paper, a low power structure for acquiring the range reading from a set of ultrasound sensors and calculating the probability of occupancy of cells in the region under the sonar scan is proposed. The architecture considerably lowers the switching activity at various stages of acquiring and processing the sensor data to provide updates of cell occupancy values for rapid in-motion mapping for...
An autonomous robot finds applications in process industries to perform control operations such as manipulation of valves, especially in hazardous environments. This would require localization and mapping capabilities for efficient navigation, coupled with a dexterous arm for manipulation of the valves. Dynamic path planning and obstacle avoidance are the necessary requirements for autonomous navigation...
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