Implementation of stereo camera-based automatic unmanned ground vehicle system for adaptive target detection

Jun-Ho Lee; Jung-Hwan Ko; Kwang-Jin Lee; Jae-Hun Jang; Eun-Soo Kim

doi:10.1117/12.573829

25 October 2004 Implementation of stereo camera-based automatic unmanned ground vehicle system for adaptive target detection

Jun-Ho Lee, Jung-Hwan Ko, Kwang-Jin Lee, Jae-Hun Jang, Eun-Soo Kim

Author Affiliations +

Proceedings Volume 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision; (2004) https://doi.org/10.1117/12.573829
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

In this paper, an integrated automatic stereo target-detection system is proposed, in which a stereo camera embedded on the mobile robot system is employed and using this system a potential 3D target object is detected and discriminated from the other objects and backgrounds, and then its moving trajectory and direction data is transferred to the host vehicle so as to warn a potential collision with a target to the UGV (unmanned ground vehicle). The face area of a target person can be tracked by using the YCbCr color model, centroid method and the depth map. In addition, a distance and area coordinates of the target face can be also calculated, in which the calculated coordinates are used for extraction of 3D information that can be used for plan paths, construction of the coordinates maps and exploration of the indoor environment. From some experiments on person tracking by using the sequential stereo image pairs of 1,280 frames, it is analyzed that error ratio between the calculated and measured values of the distance is found to be very low value of 0.7% on average.

Citation Download Citation

Jun-Ho Lee, Jung-Hwan Ko, Kwang-Jin Lee, Jae-Hun Jang, and Eun-Soo Kim "Implementation of stereo camera-based automatic unmanned ground vehicle system for adaptive target detection", Proc. SPIE 5608, Intelligent Robots and Computer Vision XXII: Algorithms, Techniques, and Active Vision, (25 October 2004); https://doi.org/10.1117/12.573829

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available