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We present a visual based approach for reactive autonomous navigation of an underwater vehicle. In particular, we are interested in the exploration and continuous monitoring of coral reefs in order to diagnose disease or physical damage. An autonomous underwater vehicle needs to decide in real time the best route while avoiding collisions with fragile marine life and structure. We have opted to use...
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,...
This paper describes a novel approach for purely vision based mobile robot navigation. The visual obstacle avoidance and corridor following behavior rely on the segmentation of the traversable floor region in the omnidirectional robocentric view. The image processing employs a supervised approach in which the segmentation optimal with respect to the appearance of the local environment is determined...
Obstacle detection is a crucial problem of autonomous vehicle navigation. The paper presents color image stereo correspondence algorithm for obstacle detection. Firstly, the color images are segmented in HSV color space. And the regions of interest are extracted from the images; Then, the rectangular boundary of the interest regions are calculated; Obstacle position finally are obtained using stereo...
Most maps used in navigation by mobile robots represent only spatial information. By the other hand, semantic information, which could be thought of as the classification of spatial primitives in different classes, provides structure to spatial information, hence reducing any necessary computation over the final map. This article proposes a semantic mapping process that represents an association between...
Navigation is a broad topic that has been receiving considerable attention from the mobile robotics community. The ability to move safely in the environment is a fundamental capability for most applications. Most previous work on this subject is focused on obstacle avoidance and path planning in indoor environments using range sensors such as lasers and sonars. This paper addresses the problem of...
The concept of probabilistic occupancy maps was introduced by the end of the 1980s. Over the years, research has focused on the definition of the representation, the data fusion, and the generation of such occupancy models. However, few considerations have been given to processing occupancy maps as textured images to extract meaningful information that is required for robot navigation. This paper...
The performance evaluation of an obstacle detection and segmentation algorithm for automated guided vehicle (AGV) navigation using a 3D real-time range camera is the subject of this paper. Our approach has teen tested successfully on British safety standard recommended object sizes and materials placed on the vehicle path. The segmented (mapped) obstacles are then verified using absolute measurements...
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