Low, Tobias and Manzanera, Antoine (2010) Ground-plane classiﬁcation for robot navigation: combining multiple cues toward a visual-based learning system. In: ICARCV 2010: 11th International Conference on Control, Automation, Robotics and Vision , 7-10 Dec 2010, Singapore.
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Identification Number or DOI: doi: 10.1109/ICARCV.2010.5707289
This paper describes a vision-based ground-plane classiﬁcation system for autonomous indoor mobile-robot that takes advantage of the synergy in combining together multiple visual-cues. A priori knowledge of the environment is important in many biological systems, in parallel with their reactive systems. As such, a learning model approach is taken here for the classiﬁcation of the ground/object space, initialised through a new Distributed-Fusion (D-Fusion) method that captures colour and textural data using Superpixels. A Markov Random Field (MRF) network is then used to classify, regularise, employ a priori constraints, and merge additional ground/object information provided by other visual cues (such as motion) to improve classiﬁcation images. The developed system can classify indoor test-set ground-plane surfaces with an average true-positive to false-positive rate of 90.92% to 7.78% respectively on test-set data. The system has been designed in mind to fuse a variety of different visual-cues. Consequently it can be customised to ﬁt different situations and/or sensory architectures accordingly.
|Item Type:||Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)|
|Additional Information:||Author version not held.|
|Uncontrolled Keywords:||image classiﬁcation; image disparity; ground plane; obstacle avoidance; visual navigation; mobile robots|
|Fields of Research (FOR2008):||09 Engineering > 0913 Mechanical Engineering > 091303 Autonomous Vehicles|
09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
08 Information and Computing Sciences > 0801 Artificial Intelligence and Image Processing > 080199 Artificial Intelligence and Image Processing not elsewhere classified
|Socio-Economic Objective (SEO2008):||A Defence > 81 Defence > 8101 Defence > 810105 Intelligence|
|Deposited On:||16 Mar 2011 15:25|
|Last Modified:||31 Jan 2012 10:02|
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