Obstacle recognition using region-based color segmentation techniques for mobile robot navigation

Robert T. McKeon; Mohan Krishnan; Mark Paulik

doi:10.1117/12.686271

2 October 2006 Obstacle recognition using region-based color segmentation techniques for mobile robot navigation

Robert T. McKeon, Mohan Krishnan, Mark Paulik

Proceedings Volume 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision; 63840R (2006) https://doi.org/10.1117/12.686271
Event: Optics East 2006, 2006, Boston, Massachusetts, United States

Abstract

This work has been performed in conjunction with the ECE Department's autonomous vehicle entry in the 2006 Intelligent Ground Vehicle Competition (www.igvc.org). The course to be traversed in the competition consists of a lane demarcated by paint lines on grass along with other challenging artifacts such as a sandpit, a ramp, potholes, colored tarps, and obstacles set up using orange and white construction barrels. In this paper an enhanced obstacle detection and mapping algorithm based on region-based color segmentation techniques is described. The main purpose of this algorithm is to detect obstacles which are not properly identified by the LADAR (Laser Detection and Ranging) system optimally mounted close to the ground, due to "shadowing" occasionally resulting in bad navigation decisions. On the other hand, the camera that is primarily used to detect the lane lines is mounted at 6 feet. In this work we concentrate on the identification of orange/red construction barrels. This paper proposes a generalized color segmentation technique which is potentially more versatile and faster than traditional full or partial color segmentation approaches. The developed algorithm identifies the shadowed items within the camera's field of vision and uses this to complement the LADAR information, thus facilitating an enhanced navigation strategy. The identification of barrels also aids in deleting bright objects from images which contain lane lines, which improves lane line identification.

Citation Download Citation

Robert T. McKeon, Mohan Krishnan, and Mark Paulik "Obstacle recognition using region-based color segmentation techniques for mobile robot navigation", Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840R (2 October 2006); https://doi.org/10.1117/12.686271

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