DocumentCode :
1757213
Title :
Computer-Vision-Based Wheel Sinkage Estimation for Robot Navigation on Lunar Terrain
Author :
Hegde, Guruprasad M. ; Cang Ye ; Robinson, Christopher A. ; Stroupe, Ashley ; Tunstel, Edward
Author_Institution :
Dept. of Syst. Eng., Univ. of Arkansas at Little Rock, Little Rock, AR, USA
Volume :
18
Issue :
4
fYear :
2013
fDate :
Aug. 2013
Firstpage :
1346
Lastpage :
1356
Abstract :
This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel-soil image captured from a video camera that monitors wheel-soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the parameters of wheel sinkage. The segmentation method is based on a graph theory. It first clusters a wheel-soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing wheel sinkage detection methods, the proposed algorithm is more robust to illumination condition, shadows, and dust (covering the wheel). The method´s efficacy has been validated by experiments under various conditions.
Keywords :
mobile robots; planetary rovers; robot vision; space vehicles; boundary line; computer vision based wheel sinkage estimation; graph theory; lunar soil; lunar terrain; normalized cuts; robot navigation; robot wheel; robotic lunar exploration; sinkage detection; soil free image; superpixels; video camera; wheel soil image segmentation; wheel soil interaction; Lunar robotics; normalized cuts; terrain interface angles; wheel sinkage estimation; wheel–soil interaction;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2013.2264095
Filename :
6525403
Link To Document :
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