About this Journal Submit a Manuscript Table of Contents
Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 240476, 14 pages
http://dx.doi.org/10.1155/2012/240476
Research Article

Robot Navigation Control Based on Monocular Images: An Image Processing Algorithm for Obstacle Avoidance Decisions

Department of Information Systems and Computing, Brunel University, Uxbridge UB8 3PH, UK

Received 21 June 2012; Accepted 10 August 2012

Academic Editor: Zidong Wang

Copyright © 2012 William Benn and Stanislao Lauria. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. H. Dong, Z. Wang, and H. Gao, “Distributed filtering for a class of time-varying systems over sensor networks with quantization errors and successive packet dropouts,” IEEE Transactions on Signal Processing, vol. 60, no. 6, Article ID Article number6168290, pp. 3164–3173, 2012. View at Publisher · View at Google Scholar · View at Scopus
  2. Z. Wang, B. Shen, H. Shu, and G. Wei, “Quantized H control for nonlinear stochastic time-delay systems with missing measurements,” IEEE Transactions on Automatic Control, vol. 57, no. 6, Article ID Article number6082385, pp. 1431–1444, 2012. View at Publisher · View at Google Scholar · View at Scopus
  3. J. Esteban, A. Starr, R. Willetts, P. Hannah, and P. Bryanston-Cross, “A review of data fusion models and architectures: towards engineering guidelines,” Neural Computing and Applications, vol. 14, no. 4, pp. 273–281, 2005. View at Publisher · View at Google Scholar · View at Scopus
  4. A. Saffiotti, “The uses of fuzzy logic in autonomous robot navigation,” Soft Computing, vol. 1, no. 4, pp. 180–197, 1997, http://aass.oru.se/~asaffio/.
  5. G. N. DeSouza and A. C. Kak, “Vision for mobile robot navigation: a survey,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, no. 2, pp. 237–267, 2002. View at Publisher · View at Google Scholar · View at Scopus
  6. A. M. Zou, Z. G. Hou, M. Tan, and D. Liu, “Vision-guided mobile robot navigation,” in Proceedings of the IEEE International Conference on Networking, Sensing and Control (ICNSC '06), pp. 209–213, April 2006. View at Scopus
  7. W. Shi and J. Samarabandu, “Corridor line detection for vision based indoor robot navigation,” in Proceedings of the Canadian Conference on Electrical and Computer Engineering (CCECE '06), pp. 1988–1991, May 2006. View at Publisher · View at Google Scholar · View at Scopus
  8. N. Ohnishi and A. Imiya, “Dominant plane detection from optical flow for robot navigation,” Pattern Recognition Letters, vol. 27, no. 9, pp. 1009–1021, 2006. View at Publisher · View at Google Scholar · View at Scopus
  9. K. Van Workum and R. Green, “Smart wheelchair guidance using optical flow,” in Proceedings of the 24th International Conference Image and Vision Computing New Zealand (IVCNZ '09), pp. 7–11, November 2009. View at Publisher · View at Google Scholar · View at Scopus
  10. N. Senthilkumaran and R. Rajesh, “Edge detection techniques for image segmentation a survey of soft computing approaches,” International Journal of Recent Trends in Engineering, vol. 1, no. 2, pp. 844–846, 2009.
  11. S. Al-amri, N. V. Kalyankar, and S. D. Khamitkar, “Image segmentation by using edge detection,” International Journal on Computer Science and Engineering, vol. 2, no. 3, pp. 804–807, 2010.
  12. L. Lucchese and S. K. Mitra, “Color image segmentation : a state-of-the-art survey,” Citeseer, vol. 67, no. 2, pp. 207–221, 2001.
  13. R. M. Haralick and L. G. Shapiro, “Image segmentation techniques,” Computer Vision, Graphics, & Image Processing, vol. 29, no. 1, pp. 100–132, 1985. View at Scopus
  14. R. C. Gonzales and R. Woods, Digital Image Processing, Addison-Wesley, Reading, Mass, USA, 1992.
  15. N. Otsu, “A threshold selection method from gray-level histograms,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 9, no. 1, pp. 62–66, 1979. View at Scopus
  16. H. D. Cheng, X. H. Jiang, Y. Sun, and J. Wang, “Color image segmentation: advances and prospects,” Pattern Recognition, vol. 34, no. 12, pp. 2259–2281, 2001. View at Publisher · View at Google Scholar · View at Scopus
  17. Y. Yang and B. Wu, “A new and fast multiphase image segmentation model for color images,” Mathematical Problems in Engineering, vol. 2012, Article ID 494761, 20 pages, 2012. View at Publisher · View at Google Scholar · View at Scopus
  18. S. Varun, S. Singh, R. Sanjeev Kunte, R. D. Sudhaker Samuel, and B. Philip, “A road traffic signal recognition system based on template matching employing tree classifier,” in Proceedings of the International Conference on Computational Intelligence and Multimedia Applications (ICCIMA '07), pp. 360–365, December 2007. View at Publisher · View at Google Scholar · View at Scopus
  19. V. Andrey and K. H. Jo, “Automatic detection and recognition of traffic signs using geometric structure analysis,” in Proceedings of the International Joint Conference (SICE-ICASE '06), pp. 1451–1456, October 2006. View at Publisher · View at Google Scholar · View at Scopus
  20. C. Lin, C. H. Su, H. S. Huang, and K. C. Fan, “Colour image segmentation in various illumination circumstances,” in Proceedings of the 9th WSEAS International Conference on Circuits, Systems, Electronics, Control and Signal Processing (CSECS '10), pp. 179–184, Stevens Point, Wis, USA, December 2010. View at Scopus
  21. E. Nadernejad, S. Sharifzadeh, and H. Hassanpour, “Edge detection techniques: evaluations and comparisons,” Applied Mathematical Sciences, vol. 2, no. 29–32, pp. 1507–1520, 2008. View at Zentralblatt MATH
  22. D. Ziou and S. Tabbone, “Edge detection techniques - an overview,” International Journal of Pattern Recognition and Image Analysis, vol. 8, pp. 537–559, 1998. View at Publisher · View at Google Scholar · View at Scopus
  23. R. Laganiére, OpenCV 2 Computer Vision Application Programming Cookbook, Packt, 2001.
  24. Z. Wang, B. Shen, and X. Liu, “H filtering with randomly occurring sensor saturations and missing measurements,” Automatica, vol. 48, no. 3, pp. 556–562, 2012. View at Publisher · View at Google Scholar · View at Zentralblatt MATH
  25. B. Shen, Z. Wang, and X. Liu, “A stochastic sampled-data approach to distributed H filtering in sensor networks,” IEEE Transactions on Circuits and Systems. I. Regular Papers, vol. 58, no. 9, pp. 2237–2246, 2011. View at Publisher · View at Google Scholar