Change search
ReferencesLink to record
Permanent link

Direct link
Intelligent stereo vision in autonomous robot traversability estimation
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-3620-4123
2012 (English)In: Robotic Vision: Technologies for Machine Learning and Vision Applications, IGI Global, 2012, 193-209 p.Chapter in book (Refereed)
Abstract [en]

Traversability estimation is the process of assessing whether a robot is able to move across a specific area. Autonomous robots need to have such an ability to automatically detect and avoid non-traversable areas and, thus, stereo vision is commonly used towards this end constituting a reliable solution under a variety of circumstances. This chapter discusses two different intelligent approaches to assess the traversability of the terrain in front of a stereo vision-equipped robot. First, an approach based on a fuzzy inference system is examined and then another approach is considered, which extracts geometrical descriptions of the scene depth distribution and uses a trained support vector machine (SVM) to assess the traversability. The two methods are presented and discussed in detail.

Place, publisher, year, edition, pages
IGI Global, 2012. 193-209 p.
National Category
Mechanical Engineering
URN: urn:nbn:se:kth:diva-162991DOI: 10.4018/978-1-4666-2672-0.ch012ScopusID: 2-s2.0-84900668068ISBN: 978-146662672-0OAI: diva2:798779

QC 20150327

Available from: 2015-03-27 Created: 2015-03-26 Last updated: 2015-03-27Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Nalpantidis, Lazaros
By organisation
Computer Vision and Active Perception, CVAPCentre for Autonomous Systems, CAS
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

Total: 42 hits
ReferencesLink to record
Permanent link

Direct link