Detection of Indoor Robot’s Passable Areas Based on a Single-Line Structured Light

Xiao Rong Mao; Xia Yuan; Chun Xia Zhao

doi:10.4028/www.scientific.net/AMM.433-435.667

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 433-435Detection of Indoor Robot’s Passable Areas Based...

Detection of Indoor Robot’s Passable Areas Based on a Single-Line Structured Light

Abstract:

Center extraction of structured light’s stripe is a key link in the detection system for the robot’s passable areas based on a single-line structured light. With the original image that the camera took, we used the difference method to quickly get the interesting area where the light stripe was. Then we combined the Hough transformation with the improved K-means algorithm to take full advantage of the effective information of light stripe. We extracted the structured light’s center with high precision. It provides a guarantee for the robots’ passable area’s detection and path planning.

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Periodical:

Applied Mechanics and Materials (Volumes 433-435)

Pages:

667-675

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.433-435.667

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Online since:

October 2013

Authors:

Xiao Rong Mao, Xia Yuan, Chun Xia Zhao

Keywords:

Center-Line Extraction, Obstacle Avoidance, Single-Line Structured Light, Visual Navigation

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