Obstacles Regions 3D-Perception Method for Mobile Robots Based on Visual Saliency
Joint Authors
Xu, Tao
Jia, Songmin
Dong, Zhengyin
Li, Xiuzhi
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-12-08
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A novel mobile robots 3D-perception obstacle regions method in indoor environment based on Improved Salient Region Extraction (ISRE) is proposed.
This model acquires the original image by the Kinect sensor and then gains Original Salience Map (OSM) and Intensity Feature Map (IFM) from the original image by the salience filtering algorithm.
The IFM was used as the input neutron of PCNN.
In order to make the ignition range more exact, PCNN ignition pulse input was further improved as follows: point multiplication algorithm was taken between PCNN internal neuron and binarization salience image of OSM; then we determined the final ignition pulse input.
The salience binarization region abstraction was fulfilled by improved PCNN multiple iterations finally.
Finally, the binarization area was mapped to the depth map obtained by Kinect sensor, and mobile robot can achieve the obstacle localization function.
The method was conducted on a mobile robot (Pioneer3-DX).
The experimental results demonstrated the feasibility and effectiveness of the proposed algorithm.
American Psychological Association (APA)
Xu, Tao& Jia, Songmin& Dong, Zhengyin& Li, Xiuzhi. 2015. Obstacles Regions 3D-Perception Method for Mobile Robots Based on Visual Saliency. Journal of Robotics،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070036
Modern Language Association (MLA)
Xu, Tao…[et al.]. Obstacles Regions 3D-Perception Method for Mobile Robots Based on Visual Saliency. Journal of Robotics No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1070036
American Medical Association (AMA)
Xu, Tao& Jia, Songmin& Dong, Zhengyin& Li, Xiuzhi. Obstacles Regions 3D-Perception Method for Mobile Robots Based on Visual Saliency. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1070036
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070036