Title :
A Robot Environment Identification Method: Image Processing Application in Duct Cleaning Robot
Author :
Meng, Bu-Min ; Sun, Wei
Author_Institution :
Coll. of Electr. & Inf. Eng., Hunan Univ., Changsha, China
Abstract :
In order to solve the issue how Duct Cleaning Robot senses the unknown duct environment, an environmental feature extraction method based on visual information is proposed. This method detects the edge of environmental images using the wavelet modulus maximum(wmm), and then extracts the geometric features of those images by Hough transformation. Finally, feed forward Back-Propagation Neural Network(BPNN) is used to environmental status identification. The relevant experimental results are given to prove the effectiveness of the proposed method.
Keywords :
Hough transforms; backpropagation; ducts; edge detection; feature extraction; feedforward neural nets; geometry; mobile robots; path planning; robot vision; service robots; Hough transformation; autonomous navigation control; duct cleaning robot; edge detection; environmental feature extraction method; environmental status identification; feed forward back-propagation neural network; geometric feature extraction; image processing application; robot environment identification method; unknown duct environment; wavelet modulus maximum; Ducts; Feature extraction; Image edge detection; Robot sensing systems; Wavelet transforms; Duct Cleaning Robot; Hough Transform; Image Feature Extraction; Neural Network; Wavelet Modulus Maximum;
Conference_Titel :
Computational and Information Sciences (ICCIS), 2010 International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-8814-8
Electronic_ISBN :
978-0-7695-4270-6
DOI :
10.1109/ICCIS.2010.298
