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Obstacle Avoidance of Indoor Mobile Robot using RGB-D Image Intensity

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2014, 19(10), pp.35-42
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Kwon Ki Hyeon 1 Hyung-Bong Lee 2

1강원대학교
2강릉원주대학교

Accredited

ABSTRACT

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.

Citation status

* References for papers published after 2022 are currently being built.