Adaptive segmentation of color image for vision navigation of mobile robots

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
发表期刊	ADVANCES IN NEURAL NETWORKS - ISNN 2006, PT 2, PROCEEDINGS
	2006
卷号	3972 页码:523-532
文章类型	Article
摘要	The 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标题词	Science & Technology ; Technology
收录类别	ISTP ; SCI
语种	英语
WOS研究方向	Computer Science
WOS类目	Computer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS记录号	WOS:000239483000077
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/9331
专题	09年以前成果
作者单位	Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
推荐引用方式 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.