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Paper Abstract and Keywords
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
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

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)
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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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