Vision System for the Navigation of a Mobile Robot

Vision System for the Navigation of a Mobile Robot

In this paper the development of an object detection system in a controlled two-dimensional spaceusing computer vision techniques is presented. The detected objects have a rigid geometry and are exposedto real light; therefore, the system is robust to changesin lighting and shading. In order to hand...

Saved in:
Translated title: Vision System for the Navigation of a Mobile Robot
Journal Title: Computación y Sistemas
First author: Griselda Saldaña González
Other Authors: Jorge Cerezo Sánchez;
Mario Mauricio Bustillo Díaz;
Apolonio Ata Pérez
Palabras clave:
Traslated keyword:
Language: English
Get full text: http://www.cys.cic.ipn.mx/ojs/index.php/CyS/article/view/2770
Resource type: Journal Article
Source: Computación y Sistemas; Vol 22, No 1 (Year 2018).
DOI: http://dx.doi.org/10.13053/cys-22-1-2770
Publisher: Instituto Politécnico Nacional
Usage rights: Otros Queda prohibida la reproducción total o parcial de los contenidos e imágenes de la difusión sin previa autorización del Instituto Politécnico Nacional
Categories: Physical/Engineering Sciences --> Computer Science, Information Systems
Abstract: In this paper the development of an object detection system in a controlled two-dimensional spaceusing computer vision techniques is presented. The detected objects have a rigid geometry and are exposedto real light; therefore, the system is robust to changesin lighting and shading. In order to handle the large amount of data to be processed in real time, a MyRIO device which contains an FPGA is used. This device allows communication with the LabVIEW software where the user interface resides. Using LabVIEW a tracking by color algorithm is implemented, in order to attend to are active agent, which uses an infrared sensor to detect the distance to an obstacle and perform the functions of foraging and storage. In order to improve performance, a supervisory system was implemented using a Kinect device that provides information relative to the position of the objects in the test area. This information allows eliminating occlusion problems.
Translated abstract: In this paper the development of an object detection system in a controlled two-dimensional spaceusing computer vision techniques is presented. The detected objects have a rigid geometry and are exposed to real light; therefore, the system is robust to changes in lighting and shading. In order to handle the large amount of data to be processed in real time, a MyRIO device which contains an FPGA is used. This device allows communication with the LabVIEW software where the user interface resides. Using LabVIEW a tracking by color algorithm is implemented, in order to attend to are active agent, which uses an infrared sensor to detect the distance to an obstacle and perform the functions of foraging and storage. In order to improve performance, a supervisory system was implemented using a Kinect device that provides information relative to the position of the objects in the test area. This information allows eliminating occlusion problems.