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Visual Recognition of Types of Corridor Segments for Mobile Robots

Visual Recognition of Types of Corridor Segments for Mobile Robots
학술지명 Advanced Robotics ISSN 0169-1864
SCI 유무 SCI(E) 게재연월 2012-08 Vol. 26 No. 16
표준화된 순위정보영향력지수 22.22 IF 0.571 Citation -

Visual Recognition of Types of Corridor Segments for Mobile Robots
저자 YoungBin Park, IlHong Suh
초록
This paper presents a visual recognition method to identify types of corridor segments such as T-junctions, L-junctions, and dead ends using vanishing point-based visual features and a two-layer recognition framework. This approach is useful for efficient robot navigation in the sense that a mobile robot is able to recognize the corridor segment type before reaching it, allowing the robot to make navigation decisions in advance. Furthermore, owing to our novel visual features made by using nonvertical vanishing points satisfying Manhattan world assumption, it is more probable for a mobile robot to recognize corridor segment types under partial occlusion by human. Experimental results have also been provided to demonstrate the validity of the proposed approach in real world environments.
keyword space recognition, corridor segment recognition, vanishing point, HMM, Manhattan world

Visual Recognition of Types of Corridor Segments for Mobile Robots
과제명 생체모방 진화형 학습지능 아키텍쳐 및 Task Skill 학습지능 기술 개발
연구기관 한양대학교 연구책임자 서일홍