Title :
Real-time edge detection of obstacles in range image by automatically thresholding the normalized range difference
Author :
Qi, Zhang ; Weikang, Gu ; Xiuqing, Ye
Author_Institution :
Post & Telecommun. Project Inst. of Zhejiang Province, Hangzhou, China
Abstract :
This paper presents a new method for rapidly detecting obstacles in a spherical coordinate system using range images sensed by a Laser Imaging Range Sensor (LIRS). The algorithm that adaptively thresholds the normalized range differences is shown to give rapid and robust results for edge detection of obstacles in real outdoor range images, and is useful for obstacle detection in a mobile robot
Keywords :
edge detection; laser ranging; mobile robots; object detection; real-time systems; robot vision; LIRS; Laser Imaging Range Sensor; adaptive thresholding; automatic thresholding; mobile robot; normalized range difference; obstacle detection; obstacles; outdoor range images; range images; real-time edge detection; spherical coordinate; Image edge detection; Image sensors; Lighting; Mobile robots; Optical reflection; Phase measurement; Robot kinematics; Robot sensing systems; Robustness; Sensor systems; Surface emitting lasers;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669137
