Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography - Robotics Institute Carnegie Mellon University

Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 705 - 710, May, 2001

Abstract

Obstacle detection is a key component of autonomous systems. In particular, when dealing with large robots in unstructured environments, robust obstacle detection is vital. In this paper, we describe an obstacle detection methodology which combines two complimentary methods: adaptive color segmentation, and stereo-based color homography. This algorithm is particularly suited for environments in which the terrain is relatively flat and of roughly the same color. We will show results in applying this method to an autonomous outdoor robot.

BibTeX

@conference{Batavia-2001-8208,
author = {Parag Batavia and Sanjiv Singh},
title = {Obstacle Detection Using Adaptive Color Segmentation and Color Stereo Homography},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2001},
month = {May},
volume = {1},
pages = {705 - 710},
publisher = {IEEE},
keywords = {Obstacle Detection, Color},
}