CASIA OpenIR  > 09年以前成果
Adaptive segmentation of color image for vision navigation of mobile robots
Zhao, Zeng-Shun; Hou, Zeng-Guang; Tan, Min; Zhang, Yong-Qian; Wang, J; Yi, Z; Zurada, JM; Lu, BL; Yin, H
Source PublicationADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
2006
Volume3972Pages:523-532
SubtypeArticle
AbstractThe self-localization problem is very important when the mobile robot has to move in autonomous way. Among techniques for self-localization, landmark-based approach is preferred for its simplicity and much less memory demanding for descriptions of robot surroundings. Door-plates are selected as visual landmarks. In this paper, we present an adaptive segmentation approach based on Principal Component Analysis (PCA) and scale-space filtering. To speed up the entire color segmentation and use the color information as a whole, PCA is implemented to project tristimulus R, G and B color space to the first principal component (1st PC) axis direction and scale-space filtering is used to get the centers of color classes. This method has been tested in the color segmentation of door-plate images captured by mobile robot CASIA-1. Experimental results are provided to demonstrate the effectiveness of this proposed method.
WOS HeadingsScience & Technology ; Technology
Indexed ByISTP ; SCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS IDWOS:000239483000077
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9331
Collection09年以前成果
AffiliationChinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Zhao, Zeng-Shun,Hou, Zeng-Guang,Tan, Min,et al. Adaptive segmentation of color image for vision navigation of mobile robots[J]. ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS,2006,3972:523-532.
APA Zhao, Zeng-Shun.,Hou, Zeng-Guang.,Tan, Min.,Zhang, Yong-Qian.,Wang, J.,...&Yin, H.(2006).Adaptive segmentation of color image for vision navigation of mobile robots.ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS,3972,523-532.
MLA Zhao, Zeng-Shun,et al."Adaptive segmentation of color image for vision navigation of mobile robots".ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS 3972(2006):523-532.
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