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Obstacles regions 3D-perception method for mobile robots based on visual saliency
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نویسنده
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xu t. ,jia s. ,dong z. ,li x.
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منبع
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journal of robotics - 2015 - دوره : 2015 - شماره : 0
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چکیده
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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. © 2015 tao xu et al.
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آدرس
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college of electronic information and control engineering,beijing university of technology,beijing,china,school of mechanical and electrical engineering,henan institute of science and technology,xinxiang,china,beijing key laboratory of computational intelligence and intelligent system,beijing,china,engineering research center of digital community,ministry of education, China, college of electronic information and control engineering,beijing university of technology,beijing,china,beijing key laboratory of computational intelligence and intelligent system,beijing,china,engineering research center of digital community,ministry of education, China, college of electronic information and control engineering,beijing university of technology,beijing,china,beijing key laboratory of computational intelligence and intelligent system,beijing,china,engineering research center of digital community,ministry of education, China, college of electronic information and control engineering,beijing university of technology,beijing,china,beijing key laboratory of computational intelligence and intelligent system,beijing,china,engineering research center of digital community,ministry of education, China
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Authors
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