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

Kompella Varun Raj 1 Peter Sturm 2
2 PERCEPTION [2007-2015] - Interpretation and Modelling of Images and Videos [2007-2015]
Inria Grenoble - Rhône-Alpes, LJK [2007-2015] - Laboratoire Jean Kuntzmann [2007-2015], Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
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.
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Contributor : Team Perception <>
Submitted on : Tuesday, May 3, 2011 - 9:54:35 AM
Last modification on : Thursday, July 23, 2020 - 10:02:02 AM




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. pp.3469-3474, ⟨10.1109/ICRA.2011.5980089⟩. ⟨inria-00590278⟩



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