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A Hybrid Architecture for Vision-Based Obstacle Avoidance
Joint Authors
Zakaria, Wan
Güzel, Mehmet Serdar
Source
Advances in Mechanical Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-09-24
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper proposes a new obstacle avoidance method using a single monocular vision camera as the only sensor which is called as Hybrid Architecture.
This architecture integrates a high performance appearance-based obstacle detection method into an optical flow-based navigation system.
The hybrid architecture was designed and implemented to run both methods simultaneously and is able to combine the results of each method using a novel arbitration mechanism.
The proposed strategy successfully fused two different vision-based obstacle avoidance methods using this arbitration mechanism in order to permit a safer obstacle avoidance system.
Accordingly, to establish the adequacy of the design of the obstacle avoidance system, a series of experiments were conducted.
The results demonstrate the characteristics of the proposed architecture, and the results prove that its performance is somewhat better than the conventional optical flow-based architecture.
Especially, the robot employing Hybrid Architecture avoids lateral obstacles in a more smooth and robust manner than when using the conventional optical flow-based technique.
American Psychological Association (APA)
Güzel, Mehmet Serdar& Zakaria, Wan. 2013. A Hybrid Architecture for Vision-Based Obstacle Avoidance. Advances in Mechanical Engineering،Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-491442
Modern Language Association (MLA)
Güzel, Mehmet Serdar& Zakaria, Wan. A Hybrid Architecture for Vision-Based Obstacle Avoidance. Advances in Mechanical Engineering No. 2013 (2013), pp.1-11.
https://search.emarefa.net/detail/BIM-491442
American Medical Association (AMA)
Güzel, Mehmet Serdar& Zakaria, Wan. A Hybrid Architecture for Vision-Based Obstacle Avoidance. Advances in Mechanical Engineering. 2013. Vol. 2013, no. 2013, pp.1-11.
https://search.emarefa.net/detail/BIM-491442
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-491442