Line detecting and tracking of a mobile robot with multiple RGB-D cameras

Cheng Ming Huang; Ting Yi Yang

doi:10.1109/ICNSC.2016.7479026

Line detecting and tracking of a mobile robot with multiple RGB-D cameras

Cheng Ming Huang
, Ting Yi Yang

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper proposes a visual perception system to detect and track the lanes and line-markings by using multiple RGB-D cameras. The RGB-D cameras can provide depth and color information to collect the data of 3D surrounding view. The 3D surrounding information can be projected to 2D images with various viewing angles from which the drivable space is easily extracted. The morphology algorithm is then used to detect the line-markings on the drivable space. These lines can be continuously tracked during the mobile robot moving.

Original language	English
Title of host publication	ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781467399753
DOIs	https://doi.org/10.1109/ICNSC.2016.7479026
State	Published - 25 May 2016
Event	13th IEEE International Conference on Networking, Sensing and Control, ICNSC 2016 - Mexico City, Mexico Duration: 28 Apr 2016 → 30 Apr 2016

Publication series

Name	ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control

Conference

Conference	13th IEEE International Conference on Networking, Sensing and Control, ICNSC 2016
Country/Territory	Mexico
City	Mexico City
Period	28/04/16 → 30/04/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

RGB-D cameras
line detection
point cloud

Access to Document

10.1109/ICNSC.2016.7479026

Cite this

Huang, C. M., & Yang, T. Y. (2016). Line detecting and tracking of a mobile robot with multiple RGB-D cameras. In ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control Article 7479026 (ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICNSC.2016.7479026

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title = "Line detecting and tracking of a mobile robot with multiple RGB-D cameras",

abstract = "This paper proposes a visual perception system to detect and track the lanes and line-markings by using multiple RGB-D cameras. The RGB-D cameras can provide depth and color information to collect the data of 3D surrounding view. The 3D surrounding information can be projected to 2D images with various viewing angles from which the drivable space is easily extracted. The morphology algorithm is then used to detect the line-markings on the drivable space. These lines can be continuously tracked during the mobile robot moving.",

keywords = "RGB-D cameras, line detection, point cloud",

author = "Huang, \{Cheng Ming\} and Yang, \{Ting Yi\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th IEEE International Conference on Networking, Sensing and Control, ICNSC 2016 ; Conference date: 28-04-2016 Through 30-04-2016",

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Huang, CM & Yang, TY 2016, Line detecting and tracking of a mobile robot with multiple RGB-D cameras. in ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control., 7479026, ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control, Institute of Electrical and Electronics Engineers Inc., 13th IEEE International Conference on Networking, Sensing and Control, ICNSC 2016, Mexico City, Mexico, 28/04/16. https://doi.org/10.1109/ICNSC.2016.7479026

Line detecting and tracking of a mobile robot with multiple RGB-D cameras. / Huang, Cheng Ming; Yang, Ting Yi.
ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control. Institute of Electrical and Electronics Engineers Inc., 2016. 7479026 (ICNSC 2016 - 13th IEEE International Conference on Networking, Sensing and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper proposes a visual perception system to detect and track the lanes and line-markings by using multiple RGB-D cameras. The RGB-D cameras can provide depth and color information to collect the data of 3D surrounding view. The 3D surrounding information can be projected to 2D images with various viewing angles from which the drivable space is easily extracted. The morphology algorithm is then used to detect the line-markings on the drivable space. These lines can be continuously tracked during the mobile robot moving.

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KW - point cloud

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T2 - 13th IEEE International Conference on Networking, Sensing and Control, ICNSC 2016

Y2 - 28 April 2016 through 30 April 2016

ER -

Line detecting and tracking of a mobile robot with multiple RGB-D cameras

Abstract

Publication series

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Bibliographical note

Keywords

Access to Document

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