TY - GEN
T1 - Visual environment recognition for robot path planning using template matched filters
AU - Orozco-Rosas, Ulises
AU - Picos, Kenia
AU - Díaz-Ramírez, Víctor H.
AU - Montiel, Oscar
AU - Sepúlveda, Roberto
N1 - Publisher Copyright:
© COPYRIGHT 2017 SPIE. Downloading of the abstract is permitted for personal use only.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85033563021&partnerID=8YFLogxK
U2 - 10.1117/12.2273596
DO - 10.1117/12.2273596
M3 - Contribución a la conferencia
AN - SCOPUS:85033563021
T3 - Proceedings of SPIE - The International Society for Optical Engineering
BT - Optics and Photonics for Information Processing XI
A2 - Diaz-Ramirez, Victor H.
A2 - Marquez, Andres
A2 - Awwal, Abdul A. S.
A2 - Vazquez, Mireya Garcia
A2 - Iftekharuddin, Khan M.
PB - SPIE
T2 - Optics and Photonics for Information Processing XI 2017
Y2 - 7 August 2017 through 8 August 2017
ER -