Real-time monocular image-based path detection

Autores
de Cristóforis, Pablo; Nitsche, Matias Alejandro; Krajník, Tomáš; Mejail, Marta Estela
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, we present a new real-time imagebased monocular path detection method. It does not require camera calibration and works on semi-structured outdoor paths. The core of the method is based on segmenting images and classifying each super-pixel to infer a contour of navigable space. This method allows a mobile robot equipped with a monocular camera to follow different naturally delimited paths. The contour shape can be used to calculate the forward and steering speed of the robot. To achieve real-time computation necessary for on-board execution in mobile robots, the image segmentation is implemented on a low-power embedded GPU. The validity of our approach has been verified with an image dataset of various outdoor paths as well as with a real mobile robot.
Fil: de Cristóforis, Pablo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Nitsche, Matias Alejandro. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Krajník, Tomáš. Czech Technical University in Prague; República Checa
Fil: Mejail, Marta Estela. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina
Materia
Visual Navigation
Path Detection
Mobile Robots
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/21292
Acceder
id CONICETDig_5fe675e867ec0b3ecfb2b53b7cb63fa3
oai_identifier_str oai:ri.conicet.gov.ar:11336/21292
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Real-time monocular image-based path detectionde Cristóforis, PabloNitsche, Matias AlejandroKrajník, TomášMejail, Marta EstelaVisual NavigationPath DetectionMobile Robotshttps://purl.org/becyt/ford/1.2https://purl.org/becyt/ford/1https://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, we present a new real-time imagebased monocular path detection method. It does not require camera calibration and works on semi-structured outdoor paths. The core of the method is based on segmenting images and classifying each super-pixel to infer a contour of navigable space. This method allows a mobile robot equipped with a monocular camera to follow different naturally delimited paths. The contour shape can be used to calculate the forward and steering speed of the robot. To achieve real-time computation necessary for on-board execution in mobile robots, the image segmentation is implemented on a low-power embedded GPU. The validity of our approach has been verified with an image dataset of various outdoor paths as well as with a real mobile robot.Fil: de Cristóforis, Pablo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Nitsche, Matias Alejandro. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Krajník, Tomáš. Czech Technical University in Prague; República ChecaFil: Mejail, Marta Estela. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; ArgentinaSpringer-Verlag2013-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/21292de Cristóforis, Pablo; Nitsche, Matias Alejandro; Krajník, Tomáš; Mejail, Marta Estela; Real-time monocular image-based path detection; Springer-Verlag; Journal of Real-Time Image Processing; 11; 2; 6-2013; 335-3481861-82001861-8219CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1007/s11554-013-0356-zinfo:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007%2Fs11554-013-0356-zinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:26:23Zoai:ri.conicet.gov.ar:11336/21292instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:26:24.073CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Real-time monocular image-based path detection
title Real-time monocular image-based path detection
spellingShingle Real-time monocular image-based path detection
de Cristóforis, Pablo
Visual Navigation
Path Detection
Mobile Robots
title_short Real-time monocular image-based path detection
title_full Real-time monocular image-based path detection
title_fullStr Real-time monocular image-based path detection
title_full_unstemmed Real-time monocular image-based path detection
title_sort Real-time monocular image-based path detection
dc.creator.none.fl_str_mv de Cristóforis, Pablo
Nitsche, Matias Alejandro
Krajník, Tomáš
Mejail, Marta Estela
author de Cristóforis, Pablo
author_facet de Cristóforis, Pablo
Nitsche, Matias Alejandro
Krajník, Tomáš
Mejail, Marta Estela
author_role author
author2 Nitsche, Matias Alejandro
Krajník, Tomáš
Mejail, Marta Estela
author2_role author
author
author
dc.subject.none.fl_str_mv Visual Navigation
Path Detection
Mobile Robots
topic Visual Navigation
Path Detection
Mobile Robots
purl_subject.fl_str_mv https://purl.org/becyt/ford/1.2
https://purl.org/becyt/ford/1
https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In this work, we present a new real-time imagebased monocular path detection method. It does not require camera calibration and works on semi-structured outdoor paths. The core of the method is based on segmenting images and classifying each super-pixel to infer a contour of navigable space. This method allows a mobile robot equipped with a monocular camera to follow different naturally delimited paths. The contour shape can be used to calculate the forward and steering speed of the robot. To achieve real-time computation necessary for on-board execution in mobile robots, the image segmentation is implemented on a low-power embedded GPU. The validity of our approach has been verified with an image dataset of various outdoor paths as well as with a real mobile robot.
Fil: de Cristóforis, Pablo. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Nitsche, Matias Alejandro. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Krajník, Tomáš. Czech Technical University in Prague; República Checa
Fil: Mejail, Marta Estela. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Computación; Argentina
description In this work, we present a new real-time imagebased monocular path detection method. It does not require camera calibration and works on semi-structured outdoor paths. The core of the method is based on segmenting images and classifying each super-pixel to infer a contour of navigable space. This method allows a mobile robot equipped with a monocular camera to follow different naturally delimited paths. The contour shape can be used to calculate the forward and steering speed of the robot. To achieve real-time computation necessary for on-board execution in mobile robots, the image segmentation is implemented on a low-power embedded GPU. The validity of our approach has been verified with an image dataset of various outdoor paths as well as with a real mobile robot.
publishDate 2013
dc.date.none.fl_str_mv 2013-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/21292
de Cristóforis, Pablo; Nitsche, Matias Alejandro; Krajník, Tomáš; Mejail, Marta Estela; Real-time monocular image-based path detection; Springer-Verlag; Journal of Real-Time Image Processing; 11; 2; 6-2013; 335-348
1861-8200
1861-8219
CONICET Digital
CONICET
url http://hdl.handle.net/11336/21292
identifier_str_mv de Cristóforis, Pablo; Nitsche, Matias Alejandro; Krajník, Tomáš; Mejail, Marta Estela; Real-time monocular image-based path detection; Springer-Verlag; Journal of Real-Time Image Processing; 11; 2; 6-2013; 335-348
1861-8200
1861-8219
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1007/s11554-013-0356-z
info:eu-repo/semantics/altIdentifier/url/https://link.springer.com/article/10.1007%2Fs11554-013-0356-z
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer-Verlag
publisher.none.fl_str_mv Springer-Verlag
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614265427722240
score 13.070432

Publicaciones similares