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| Presentation | 2011-12-16 10:00 Object Detection and Tracking by Using Single Laser Range Finder and Monocular Camera Mounted On an Autonomous Mobile Robot Yoshiki Sato, Tsutomu Miki, Shigeki Okamoto, Shohei Fujii (KIT)  PRMU2011-137 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | The Detection of moving obstacles is one of the important functions for autonomous mobile robots. To detect and track moving obstacles, generally, fixed sensors are used. However, the fixed sensors have a limitation that moving obstacles beyond the observable range are undetectable. In order to detect the moving obstacles without such limitation on the sensing range, the robot have to install sensors on itself. In this paper, we propose a practical obstacle avoidance method with low processing cost that uses a multi-sensor mounted on an autonomous robot. A laser range finder and a monocular camera are used for moving obstacle detection and tracking, respectively. In order to realize operation in low cost and robust, the histogram of hue and brightness is employed. The validity of the proposed method is confirmed by computer simulations. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Object detection / Object tracking / Obstacle avoidance / Multi sensor / Hue histogram / Brightness histogram / / | |
| Reference Info. | IEICE Tech. Rep., vol. 111, no. 353, PRMU2011-137, pp. 71-76, Dec. 2011. | |
| Paper # | PRMU2011-137 | |
| Date of Issue | 2011-12-08 (PRMU) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | PRMU2011-137 |
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| Conference Information | |
| Committee | PRMU FM |
| Conference Date | 2011-12-15 - 2011-12-16 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Hamamatsu Campus, Shizuoka Univ. |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | PRMU |
| Conference Code | 2011-12-PRMU-FM |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Object Detection and Tracking by Using Single Laser Range Finder and Monocular Camera Mounted On an Autonomous Mobile Robot |
| Sub Title (in English) | |
| Keyword(1) | Object detection |
| Keyword(2) | Object tracking |
| Keyword(3) | Obstacle avoidance |
| Keyword(4) | Multi sensor |
| Keyword(5) | Hue histogram |
| Keyword(6) | Brightness histogram |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Yoshiki Sato |
| 1st Author's Affiliation | Kyushu Institute of Technology (KIT) |
| 2nd Author's Name | Tsutomu Miki |
| 2nd Author's Affiliation | Kyushu Institute of Technology (KIT) |
| 3rd Author's Name | Shigeki Okamoto |
| 3rd Author's Affiliation | Kyushu Institute of Technology (KIT) |
| 4th Author's Name | Shohei Fujii |
| 4th Author's Affiliation | Kyushu Institute of Technology (KIT) |
| Speaker | Author-1 |
| Date Time | 2011-12-16 10:00:00 |
| Presentation Time | 30 minutes |
| Registration for | PRMU |
| Paper # | PRMU2011-137 |
| Volume (vol) | vol.111 |
| Number (no) | no.353 |
| Page | pp.71-76 |
| #Pages | 6 |
| Date of Issue | 2011-12-08 (PRMU) |
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