Evolutionary recognition of corridor and turning using adaptive model with 3D structure

Hui Liu, Zongyi Zhang, Wei Song, Yasushi Mae, Mamoru Minami, Aoyagi Seiji

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


The paper describes a new method for recognizing corridors for autonomous mobile robot. The method detects the edge markers of a corridor based on the genetic-algorithm (GA) and 3D model-based matching. The edge markers with distinct color are generally located at the bottom of the walls for human visual recognition. To recognize the edge markers and the branch of corridor stably and precisely, a set of 3D models of the corridor which change its model length in 3D space is utilized to adapt the variation of the appearance of the markers. The experimental results show the method is effective for real-time recognition of corridor and its branch.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • 3D model
  • Fitness function
  • GA
  • Surface-strip model

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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