@article{ART001923965},
author={Kwon Ki Hyeon and Hyung-Bong Lee},
title={Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2014},
volume={19},
number={10},
pages={35-42}
TY - JOUR
AU - Kwon Ki Hyeon
AU - Hyung-Bong Lee
TI - Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity
JO - Journal of The Korea Society of Computer and Information
PY - 2014
VL - 19
IS - 10
PB - The Korean Society Of Computer And Information
SP - 35
EP - 42
SN - 1598-849X
AB - It is possible to improve the obstacle avoidance capability by training and recognizing the obstacleswhich is in certain indoor environment. We propose the technique that use underlying intensity value alongwith intensity map from RGB-D image which is derived from stereo vision Kinect sensor and recognize anobstacle within constant distance. We test and experiment the accuracy and execution time of the patternrecognition algorithms like PCA, ICA, LDA, SVM to show the recognition possibility of it. From the comparison experiment between RGB-D data and intensity data, RGB-D data got 4.2% better accuracy ratethan intensity data but intensity data got 29% and 31% faster than RGB-D in terms of training time andintensity data got 70% and 33% faster than RGB-D in terms of testing time for LDA and SVM,respectively. So, LDA, SVM have good accuracy and better training/testing time to use for obstacleavoidance based on intensity dataset of mobile robot.
KW - RGB-D;Intensity;Stereo Vision;LDA;SVM;Kinect
DO -
UR -
ER -
Kwon Ki Hyeon and Hyung-Bong Lee. (2014). Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity. Journal of The Korea Society of Computer and Information, 19(10), 35-42.
Kwon Ki Hyeon and Hyung-Bong Lee. 2014, "Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity", Journal of The Korea Society of Computer and Information, vol.19, no.10 pp.35-42.
Kwon Ki Hyeon, Hyung-Bong Lee "Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity" Journal of The Korea Society of Computer and Information 19.10 pp.35-42 (2014) : 35.
Kwon Ki Hyeon, Hyung-Bong Lee. Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity. 2014; 19(10), 35-42.
Kwon Ki Hyeon and Hyung-Bong Lee. "Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity" Journal of The Korea Society of Computer and Information 19, no.10 (2014) : 35-42.
Kwon Ki Hyeon; Hyung-Bong Lee. Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity. Journal of The Korea Society of Computer and Information, 19(10), 35-42.
Kwon Ki Hyeon; Hyung-Bong Lee. Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity. Journal of The Korea Society of Computer and Information. 2014; 19(10) 35-42.
Kwon Ki Hyeon, Hyung-Bong Lee. Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity. 2014; 19(10), 35-42.
Kwon Ki Hyeon and Hyung-Bong Lee. "Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity" Journal of The Korea Society of Computer and Information 19, no.10 (2014) : 35-42.
