THE SYSTEM OF VIDEO-DATA PROCESSING FOR THE AUTONOMOUS CONTROL OF MOBILE ROBOT

Authors

  • Denis Vershok
  • Rauf Sadykhov
  • Andrei Selikhanovich
  • Klaus Schilling
  • Hubert Roth

DOI:

https://doi.org/10.47839/ijc.2.3.235

Keywords:

Robotics, Hough transform, Walsh transform, edge detection, monocular vision

Abstract

This paper describes the system of video-data processing based on monocular vision for autonomous control of mobile robot. The system allows detecting obstacles in a robot environment modeled as a set of straight-line segment. The given system consists of three basic stages and uses original algorithms, ensuring the required precision and realization of the system in the real time. The first stage uses a fast edge detection algorithm on the basis of two- dimensional Walsh transform. The algorithm of modified Hough transform is used for detection of straight-line segments. The third stage «segment tracking» uses Kalman filtration for tracking segments in a monocular sequence of images.

References

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A. Machnev, A. Selikhanovich. Walsh operators of edge detection for gray-scale images. In Proceedings of Int. Conf. On Neural Networks and Artificial Intelligence, 12-15 October 1999, Brest, Belarus, pp. 178-182.

R.H. Sadyhov, D.A. Vershok. Algorithm of invariant features extraction based on modified Hough transform. In Proceedings of Fourth International Conference Pattern Recognition and Information Processing (PRIP'97), Minsk-Szczecin, Belarus-Poland, 20-22 May, 1997.

P. Ruymgaart, T. Soong. Mathematics of Kalman-Bucy filtering. Spring Verlag, Berlin, 1985.

B. Giai-Checa, P. Bouthemy, T. Vieville. Detecting of moving objects. Research report, INRIA Sophia Antipolis, 1996.

V. Golovko, A. Klimovich, K. Schilling, J. Pico. Neural Networks for Reactive Control of Mobile Robot. In Proceedings of Int. Workshop on Intelligent Signal Processing, 4-7 September 1999, Budapest, Hungary, pp. 310-311.

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Published

2014-08-01

How to Cite

Vershok, D., Sadykhov, R., Selikhanovich, A., Schilling, K., & Roth, H. (2014). THE SYSTEM OF VIDEO-DATA PROCESSING FOR THE AUTONOMOUS CONTROL OF MOBILE ROBOT. International Journal of Computing, 2(3), 82-85. https://doi.org/10.47839/ijc.2.3.235

Issue

2003, Volume 2, Issue 3

Section

Articles

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