ICRA 2011 Paper Abstract


Paper ThP214.5

Merveilleux, Pauline (MIS Laboratory, University of Picardie, Amiens France), Labbani-Igbida, Ouiddad (Université de Picardie Jules Verne), Mouaddib, El Mustapha (Université of Picardie Jules Verne)

Real-Time Free Space Detection and Navigation Using Omnidirectional Vision and Parametric and Geometric Active Contours

Scheduled for presentation during the Regular Sessions "Omnidirectional Vision for Robotics" (ThP214), Thursday, May 12, 2011, 16:25−16:40, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Omnidirectional Vision, Visual Navigation


This paper contributes to adapt parametric and geometric active contour methods in a new framework to handle real time free space extraction while taking advantage of the properties of omnivision. Both methods were formally and algorithmically adapted and improved. Some comparative results, achieved on unknown indoor and outdoor images, are presented to validate the efficiency of our two snake based approaches. We also show that active contours can be applied to make a robot navigate autonomously, only using real omni-images, thanks to the extracted free space boundaries skeleton.



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