동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 김인권 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-09-09T15:19:53Z | - |
dc.date.available | 2021-09-09T15:19:53Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2008 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/125199 | - |
dc.description.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. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 동적 물체의 비전 검출을 통한 이동로봇의 장애물 회피 | - |
dc.title.alternative | Mobile Robot Obstacle Avoidance using Visual Detection of a Moving Object | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.3, no.3, pp.212 - 218 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 3 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 212 | - |
dc.citation.endPage | 218 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001417232 | - |
dc.description.journalClass | 2 | - |
dc.subject.keywordAuthor | real-time obstacle avoidance | - |
dc.subject.keywordAuthor | moving object detection | - |
dc.subject.keywordAuthor | motion vector | - |
dc.subject.keywordAuthor | mobile robot | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.