| Title |
Adaptive Spatial Coordinates Detection Scheme for Path-Planning of Autonomous Mobile Robot |
| Authors |
이정석(Lee, Jung-Suk) ; 고정환(Ko, Jung-Hwan) |
| Keywords |
mobile robot ; stereo camera ; spatial map ; path planning ; depth map |
| Abstract |
In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. |