Visual environment recognition for robot path planning using template matched filters

Ulises Orozco-Rosas, Kenia Picos, Víctor H. Díaz-Ramírez, Oscar Montiel, Roberto Sepúlveda

Research output: Contribution to conferencePaper

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Abstract

© COPYRIGHT 2017 SPIE. Downloading of the abstract is permitted for personal use only. A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple possible ways. In order to generate an efficient and safe path for mobile robot navigation, the proposal employs a pseudo-bacterial potential field algorithm to derive optimal potential field functions using evolutionary computation. Simulation results are evaluated in synthetic and real scenes in terms of accuracy of environment recognition and efficiency of path planning computation.
Original languageAmerican English
DOIs
StatePublished - 1 Jan 2017
EventProceedings of SPIE - The International Society for Optical Engineering -
Duration: 1 Jan 2017 → …

Conference

ConferenceProceedings of SPIE - The International Society for Optical Engineering
Period1/01/17 → …

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Cite this

Orozco-Rosas, U., Picos, K., Díaz-Ramírez, V. H., Montiel, O., & Sepúlveda, R. (2017). Visual environment recognition for robot path planning using template matched filters. Paper presented at Proceedings of SPIE - The International Society for Optical Engineering, . https://doi.org/10.1117/12.2273596