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Vision based obstacle detection using 3D HSV histograms

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2 Author(s)
Derhgawen, A.R. ; Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India ; Ghose, D.

This paper presents a fast obstacle detection algorithm for mobile robots that uses a single color camera as the only sensor to detect unknown obstacles in an environment. The algorithm uses color HSV histograms to classify each individual pixel as belonging either to an obstacle, or the ground based on its appearance. The system is capable of performing high speed obstacle detection on both uniform and multicolored terrains.

Published in:

India Conference (INDICON), 2011 Annual IEEE

Date of Conference:

16-18 Dec. 2011