| Presentation | 2011-12-16 Object Detection and Tracking by Using Single Laser Range Finder and Monocular Camera Mounted On an Autonomous Mobile Robot Yoshiki Sato, Tsutomu Miki, Shigeki Okamoto, Shohei Fujii, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | The Detection of moving obstacles is one of the important functions for autonomous mobile robots. To detect and track moving obstacles, generally, fixed sensors are used. However, the fixed sensors have a limitation that moving obstacles beyond the observable range are undetectable. In order to detect the moving obstacles without such limitation on the sensing range, the robot have to install sensors on itself. In this paper, we propose a practical obstacle avoidance method with low processing cost that uses a multi-sensor mounted on an autonomous robot. A laser range finder and a monocular camera are used for moving obstacle detection and tracking, respectively. In order to realize operation in low cost and robust, the histogram of hue and brightness is employed. The validity of the proposed method is confirmed by computer simulations. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Object detection / Object tracking / Multi-sensor / Hue histogram / Brightness histogram / Obstacle avoidance |
| Paper # | PRMU2011-137 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2011/12/8(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Object Detection and Tracking by Using Single Laser Range Finder and Monocular Camera Mounted On an Autonomous Mobile Robot |
| Sub Title (in English) | |
| Keyword(1) | Object detection |
| Keyword(2) | Object tracking |
| Keyword(3) | Multi-sensor |
| Keyword(4) | Hue histogram |
| Keyword(5) | Brightness histogram |
| Keyword(6) | Obstacle avoidance |
| 1st Author's Name | Yoshiki Sato |
| 1st Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology() |
| 2nd Author's Name | Tsutomu Miki |
| 2nd Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology |
| 3rd Author's Name | Shigeki Okamoto |
| 3rd Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology |
| 4th Author's Name | Shohei Fujii |
| 4th Author's Affiliation | Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology |
| Date | 2011-12-16 |
| Paper # | PRMU2011-137 |
| Volume (vol) | vol.111 |
| Number (no) | 353 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |