Detection and Avoidance of Semi-Transparent Obstacles using a Collective-Reward Based Approach

Kompella Varun Raj 1 Peter Sturm 2
2 PERCEPTION - Interpretation and Modelling of Images and Videos
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : Most of the computer and robot-vision algorithms are designed mainly for opaque objects and non-opaque objects have received less attention, in spite of them being omnipresent in man-made environments. With an increasing usage of such objects, especially those made of glass, plastic etc., it becomes necessarily important to detect this class of objects while building a robot navigation system. Obstacle avoidance forms a primary yet challenging task in mobile robot navigation. The main objective of this paper is to present an algorithm to detect and avoid obstacles that are made of semi-transparent materials, such as plastic or glass. The algorithm makes use of a technique called the collective-reward based approach to detect such objects from single images captured by an uncalibrated camera in a live video stream. Random selection techniques are incorporated in the method to make the algorithm run in real-time. A mobile robot then uses the information after detection to perform an obstacle avoidance maneuver. Experiments were conducted on a real robot to test the efficacy of the algorithm.
Type de document :
Communication dans un congrès
ICRA 2011 - IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. IEEE Computer Society, pp.3469-3474, 2011, 〈10.1109/ICRA.2011.5980089〉
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https://hal.inria.fr/inria-00590278
Contributeur : Team Perception <>
Soumis le : mardi 3 mai 2011 - 09:54:35
Dernière modification le : jeudi 11 janvier 2018 - 01:48:44

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Kompella Varun Raj, Peter Sturm. Detection and Avoidance of Semi-Transparent Obstacles using a Collective-Reward Based Approach. ICRA 2011 - IEEE International Conference on Robotics and Automation, May 2011, Shanghai, China. IEEE Computer Society, pp.3469-3474, 2011, 〈10.1109/ICRA.2011.5980089〉. 〈inria-00590278〉

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