Cart (Loading....) | Create Account
Close category search window
 

Fast boundary extraction for mobile robot sensor-detected images

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Yilin Zhao ; Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA ; BeMent, S.L.

A fast boundary/line extraction algorithm used for grid-based world maps in the dynamic navigation of a mobile robot is described. The usual maps for such devices are generated from ultrasonic sensor information and are stored in large pixel arrays. The utilization of these maps often involves the processing of every pixel in the map array, which necessitates relatively long computation times. The authors have transformed the image pixels of critical object boundaries into straight-line segments in order to reduce the computation time for tasks that depend on the map, such as path planning and map transmission. The image array is scanned only once by the algorithm while a carefully selected operator (mask) set is convolved with the image. At the same time candidate line-support pixels are sorted into eight lists. The object boundary pixels are grouped and converted into lines that require only two endpoints. Test runs for an experimental obstacle field indicate that this algorithm requires less than 1 s for line extraction, which is fast enough for real-time navigation

Published in:

Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on

Date of Conference:

5-7 Sep 1990

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.