Front Obstacle Detection Based On Fusion of Ultrasonic and Machine Vision | |
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( Volume 3 Issue 7,July 2017 ) OPEN ACCESS | |
Author(s): | |
Jie Yu, Binbin Sun, Song Gao, Zhangu Wang | |
Abstract: | |
The environment sensing system of mobile robot is comprehensive and complex, and it is the core technology to realize the intelligent robot. This paper proposed a method, which is based on the combination of ultrasonic fusion and machine vision to detect obstacles in front of the robot. Before the system working, the joint calibration of ultrasonic sensor and camera is carried out, and the information of the front obstacle is realized through the information fusion. The ultrasonic sensor obtains the distance information of the obstacles in front through echo signal and carries out pre-processing of image through edge enhancement and adaptive threshold value to improve image quality. Finally, height and width information of the obstacles is obtained based on utilization of edge detection and Hough Transform. The experiment indicates that the method has considered high efficiency of ultrasonic real-time detection and good recognition accuracy of image morphology. The processing speed of single frame data is 17.7ms.Average relative error of all detection parameters of obstacle is 6.8% so that requirements of mobile robot on instantaneity and accuracy of environmental perception can be satisfied. |
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