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Adaptive applied TV system for obstacle detection on underlying surface for mobile robotic platform

Keywords:

I.M. Lebedev - Post-graduate Student, P.G. Demidov Yaroslavl State University. E-mail: ilyaleb@gmail.com A.L. Tyukin - Post-graduate Student, P.G. Demidov Yaroslavl State University. E-mail: tyukin.alexx@gmail.com A.L. Priorov - Dr.Sc. (Eng.), Associate Professor, P.G. Demidov Yaroslavl State University. E-mail: tyukin.alexx@gmail.com A.V. Prozorov - Post-graduate Student, P.G. Demidov Yaroslavl State University. E-mail: alexprozoroff@gmail.com


The paper presents a monocular obstacles detecting of the applied TV system. The approach to solving the problem lies in detecting pixels that different in appearance than the ground. The algorithm works in real time in different condition providing a high resolution image at the output. The possibility of autotuning the system is shown. Reference area is selected before mobile platform. It is split into multiple clusters. Then the image is analyzed with respect to all the clusters. If a pixel can be assigned to any cluster it will be considered as the underlying surface, or an obstacle. The algorithm of color information accumulation about new clusters is described. This algorithm allows our system to learn which makes it possible to adapt to changes in illumination. Also it makes possible operation with both predetermined information without learning mode and mixed mode witch use all these two types of information.
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