TY - GEN
T1 - Ga-model based robust scene recognition for indoor mobile robots traveling operations using raw-image
AU - Agbanhan, Julien
AU - Suzuki, Hidekazu
AU - Minami, Mamoru
AU - Asakura, Toshiyuki
PY - 2000
Y1 - 2000
N2 - Recognition of a working environment is critical for an autonomous vehicle such as a mobile robot to confirm its possible intelligence. Therefore it is necessary to equip a recognition system with some sensor, which can get. environmental information. As an effective sensor, a CCD camera is generally thought to be useful for all kinds of mobile robots. However, it is thought, to be hard to use the CCD camera for visual feedback, which require to acquire the information in real-time. This research presents a corridor recognition method using the unprocessed gray-scale image, termed here as raw-image, and a genetic algorithm (GA), without any image information conversion, so as to perform the recognition process in real-time. The robustness of the method against noises in the environment, and the effectiveness of the method for real-time recognition have been verified using real corridor images.
AB - Recognition of a working environment is critical for an autonomous vehicle such as a mobile robot to confirm its possible intelligence. Therefore it is necessary to equip a recognition system with some sensor, which can get. environmental information. As an effective sensor, a CCD camera is generally thought to be useful for all kinds of mobile robots. However, it is thought, to be hard to use the CCD camera for visual feedback, which require to acquire the information in real-time. This research presents a corridor recognition method using the unprocessed gray-scale image, termed here as raw-image, and a genetic algorithm (GA), without any image information conversion, so as to perform the recognition process in real-time. The robustness of the method against noises in the environment, and the effectiveness of the method for real-time recognition have been verified using real corridor images.
KW - Cameras
KW - Charge coupled devices
KW - Charge-coupled image sensors
KW - Image recognition
KW - Intelligent sensors
KW - Intelligent vehicles
KW - Layout
KW - Mobile robots
KW - Robot vision systems
KW - Robustness
UR - http://www.scopus.com/inward/record.url?scp=84969165148&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84969165148&partnerID=8YFLogxK
U2 - 10.1109/IECON.2000.972233
DO - 10.1109/IECON.2000.972233
M3 - Conference contribution
AN - SCOPUS:84969165148
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 848
EP - 853
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -