Visual environment recognition for robot path planning using template matched filters

Ulises Orozco-Rosas; Kenia Picos; Víctor H. Díaz-Ramírez; Oscar Montiel; Roberto Sepúlveda

doi:10.1117/12.2273596

24 August 2017 Visual environment recognition for robot path planning using template matched filters

Ulises Orozco-Rosas, Kenia Picos, Víctor H. Díaz-Ramírez, Oscar Montiel, Roberto Sepúlveda

Proceedings Volume 10395, Optics and Photonics for Information Processing XI; 103950N (2017) https://doi.org/10.1117/12.2273596
Event: SPIE Optical Engineering + Applications, 2017, San Diego, California, United States

Abstract

A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple possible ways. In order to generate an efficient and safe path for mobile robot navigation, the proposal employs a pseudo-bacterial potential field algorithm to derive optimal potential field functions using evolutionary computation. Simulation results are evaluated in synthetic and real scenes in terms of accuracy of environment recognition and efficiency of path planning computation.

Conference Presentation

Citation Download Citation

Ulises Orozco-Rosas, Kenia Picos, Víctor H. Díaz-Ramírez, Oscar Montiel, and Roberto Sepúlveda "Visual environment recognition for robot path planning using template matched filters", Proc. SPIE 10395, Optics and Photonics for Information Processing XI, 103950N (24 August 2017); https://doi.org/10.1117/12.2273596

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