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동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object

Other Titles
Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object
Authors
김인권송재복
Issue Date
2008
Publisher
한국로봇학회
Keywords
real-time obstacle avoidance; moving object detection; motion vector; mobile robot
Citation
로봇학회 논문지, v.3, no.3, pp.212 - 218
Journal Title
로봇학회 논문지
Volume
3
Number
3
Start Page
212
End Page
218
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/125199
ISSN
1975-6291
Abstract
Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.
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