Open AccessTHE SYSTEM OF VIDEO-DATA PROCESSING FOR THE AUTONOMOUS CONTROL OF MOBILE ROBOT
Author(s) -
D.A. Vershok,
Rauf Sadykhov,
Andrei Selikhanovich,
Klaus Schilling,
Hubert Roth
Publication year - 2014
Publication title -
computing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.184
H-Index - 11
eISSN - 2312-5381
pISSN - 1727-6209
DOI - 10.47839/ijc.2.3.235
Subject(s) - hough transform , computer vision , computer science , artificial intelligence , mobile robot , monocular , kalman filter , monocular vision , realization (probability) , robot , tracking system , edge detection , image processing , image (mathematics) , mathematics , statistics
This paper describes the system of video-data processing based on monocular vision for autonomous control of mobile robot. The system allows detecting obstacles in a robot environment modeled as a set of straight-line segment. The given system consists of three basic stages and uses original algorithms, ensuring the required precision and realization of the system in the real time. The first stage uses a fast edge detection algorithm on the basis of two- dimensional Walsh transform. The algorithm of modified Hough transform is used for detection of straight-line segments. The third stage «segment tracking» uses Kalman filtration for tracking segments in a monocular sequence of images.