2015年
Floor-wall boundary estimation by ellipse fitting
PROCEEDINGS OF THE 2015 7TH IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND ROBOTICS, AUTOMATION AND MECHATRONICS (RAM)
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- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- 出版者・発行元
- IEEE
In order to realize autonomous robot navigation, we propose a method for detecting the boundary between a floor and a wall by extracting an ellipse projected from a robot-mounted projector. We note that a circular cone of light projected onto the region where the floor and the wall meet produces two intersecting ellipses in the image. We detect the two ellipses from the image and estimate the line that separates them, which we regard as the floor-wall boundary. We also propose a new method for fitting an ellipse to an edge point sequence which may contain outliers, i.e., non-elliptic arcs. Using real images, we show that our proposed method can detect the floor-wall boundary even when the detected edge point sequence contains outliers that have complicated forms.
- リンク情報
- ID情報
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- Web of Science ID : WOS:000380472300055