English
An approach of vision-based navigation using vanishing point detection and a reactive behavior implementing potential fields. This strategy is useful in structured environments. The vanishing point behaves as an attractor to the system. The image processing task is done by using Canny Filter for border detection, Hough transform for line recognition, and a cost function for evaluating the crossing points of the lines.
Español
Un enfoque de navegación reactiva utilizando visión, específicamente detectando el punto de fuga de la imagen. Esta estrategia es útil en entornos estructurados, donde es sencillo localizar el punto de fuga en pasillos. La navegación es implementada utilizando campos de potencial, en donde el punto de fuga se comporta como un atractor para el sistema.
Paper
NXBOT is a robot entirely designed and constructed in the Universidad del Valle of Cali, Colombia. Mainly used for cooperative tasks, NXBOT is also being applied in other research areas, such as vision-based navigation. NXBOT has been completely designed using open source tools and is part of the robotic platforms of the PSI research group. NXBOT has been developed and maintained by Alejandro Pustowka and Jonathan Hernandez.
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