A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared
In allusion to the existing low recognition rate and robustness problem in obstacle detection; a simple but effective obstacle detection algorithm of information fusion in the depth and infrared is put forward. The scenario is segmented by the mean-shift algorithm and the pixel gradient of foregroun...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
|
| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2016/2379685 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832552574784372736 |
|---|---|
| author | Yaguang Zhu Baomin Yi Tong Guo |
| author_facet | Yaguang Zhu Baomin Yi Tong Guo |
| author_sort | Yaguang Zhu |
| collection | DOAJ |
| description | In allusion to the existing low recognition rate and robustness problem in obstacle detection; a simple but effective obstacle detection algorithm of information fusion in the depth and infrared is put forward. The scenario is segmented by the mean-shift algorithm and the pixel gradient of foreground is calculated. After pretreatment of edge detection and morphological operation, the depth information and infrared information are fused. The characteristics of depth map and infrared image in edge detection are used for the raised method, the false rate of detection is reduced, and detection precision is improved. Since the depth map and infrared image are not affected by natural sunlight, the influence on obstacle recognition due to the factors such as light intensity and shadow is effectively reduced and the robustness of the algorithm is also improved. Experiments indicate that the detection algorithm of information fusion can accurately identify the small obstacle in the view and the accuracy of obstacle recognition will not be affected by light. Hence, this method has great significance for mobile robot or intelligent vehicles on obstacle detection in outdoor environment. |
| format | Article |
| id | doaj-art-80197fc8d3c2439289186c4b8dca8973 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2016-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-80197fc8d3c2439289186c4b8dca89732025-02-03T05:58:16ZengWileyJournal of Robotics1687-96001687-96192016-01-01201610.1155/2016/23796852379685A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and InfraredYaguang Zhu0Baomin Yi1Tong Guo2Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, ChinaKey Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, ChinaIn allusion to the existing low recognition rate and robustness problem in obstacle detection; a simple but effective obstacle detection algorithm of information fusion in the depth and infrared is put forward. The scenario is segmented by the mean-shift algorithm and the pixel gradient of foreground is calculated. After pretreatment of edge detection and morphological operation, the depth information and infrared information are fused. The characteristics of depth map and infrared image in edge detection are used for the raised method, the false rate of detection is reduced, and detection precision is improved. Since the depth map and infrared image are not affected by natural sunlight, the influence on obstacle recognition due to the factors such as light intensity and shadow is effectively reduced and the robustness of the algorithm is also improved. Experiments indicate that the detection algorithm of information fusion can accurately identify the small obstacle in the view and the accuracy of obstacle recognition will not be affected by light. Hence, this method has great significance for mobile robot or intelligent vehicles on obstacle detection in outdoor environment.http://dx.doi.org/10.1155/2016/2379685 |
| spellingShingle | Yaguang Zhu Baomin Yi Tong Guo A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared Journal of Robotics |
| title | A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared |
| title_full | A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared |
| title_fullStr | A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared |
| title_full_unstemmed | A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared |
| title_short | A Simple Outdoor Environment Obstacle Detection Method Based on Information Fusion of Depth and Infrared |
| title_sort | simple outdoor environment obstacle detection method based on information fusion of depth and infrared |
| url | http://dx.doi.org/10.1155/2016/2379685 |
| work_keys_str_mv | AT yaguangzhu asimpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared AT baominyi asimpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared AT tongguo asimpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared AT yaguangzhu simpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared AT baominyi simpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared AT tongguo simpleoutdoorenvironmentobstacledetectionmethodbasedoninformationfusionofdepthandinfrared |