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Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location

A significant challenge in the design of an autonomous mobile robot is the reliable detection of targets, obstacles and targets tracking. Many types of sensor are used for that purposes such as infrared, sonar, vision sensor and laser. Monocular vision is one of the methods used due to simplicity...

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Main Author: Mat Jusoh, Rizal
Format: Thesis
Language:English
English
Published: 2007
Online Access:http://psasir.upm.edu.my/id/eprint/587/1/600413_fk_2007_11_abstrak_je__dh_pdf_.pdf
http://psasir.upm.edu.my/id/eprint/587/
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spelling my.upm.eprints.5872013-05-27T06:49:30Z http://psasir.upm.edu.my/id/eprint/587/ Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location Mat Jusoh, Rizal A significant challenge in the design of an autonomous mobile robot is the reliable detection of targets, obstacles and targets tracking. Many types of sensor are used for that purposes such as infrared, sonar, vision sensor and laser. Monocular vision is one of the methods used due to simplicity and computational cost compared to stereo vision. Based on current trends the autonomous mobile robot development, vision sensor is used as different functions such as target recognition, obstacles avoidance, and navigation. To fulfill such demands the mobile robot should be able to estimate the distance of the detected targets and their angles from its current location. From the extracted information, the motions of the mobile robot can be done efficiently for targets retrieval task. This thesis addresses issue on golf balls localization. The sensor used for localization is a single color webcam. The experiment involves stationary golf balls localization at indoor and outdoor scene. The objective is to localize golf balls at various locations to be retrieved by the mobile robot. The distance towards the golf balls are estimated based on their diameter. This is based on the perspective view concept where the golf ball sizes are inversely proportional to their distance from webcam. Golf balls detection is done using color segmentation in RGB (red, green and blue) color space. A vector, a, that represents mean value of the target sample is calculated. Then the mean and standard deviation of each color component is calculated. The threshold value lies in the range μ ± σ which represents a square bounding box in RGB color space with a center at a. Every pixel in the test image is tested whether it lies within the bounding box which contributes to target pixel. The technique for segmentation can avoid high computation time for color image processing. The simple features such as diameter, x-y ratio and area are used as its inputs to the k-nearest neighbors (K-NN) classifier. The software is developed in Visual Basic 6 with a laptop computer acts as a controller and for handling image acquisition and processing. The localization process takes less than one second to be completed. The technique has been tested at indoor and outdoor environment. The efficiency of the estimation is more than 90 percents with a condition that the targets are less than 50 percents occluded. 2007-02 Thesis NonPeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/587/1/600413_fk_2007_11_abstrak_je__dh_pdf_.pdf Mat Jusoh, Rizal (2007) Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location. Masters thesis, Universiti Putra Malaysia. English
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
English
description A significant challenge in the design of an autonomous mobile robot is the reliable detection of targets, obstacles and targets tracking. Many types of sensor are used for that purposes such as infrared, sonar, vision sensor and laser. Monocular vision is one of the methods used due to simplicity and computational cost compared to stereo vision. Based on current trends the autonomous mobile robot development, vision sensor is used as different functions such as target recognition, obstacles avoidance, and navigation. To fulfill such demands the mobile robot should be able to estimate the distance of the detected targets and their angles from its current location. From the extracted information, the motions of the mobile robot can be done efficiently for targets retrieval task. This thesis addresses issue on golf balls localization. The sensor used for localization is a single color webcam. The experiment involves stationary golf balls localization at indoor and outdoor scene. The objective is to localize golf balls at various locations to be retrieved by the mobile robot. The distance towards the golf balls are estimated based on their diameter. This is based on the perspective view concept where the golf ball sizes are inversely proportional to their distance from webcam. Golf balls detection is done using color segmentation in RGB (red, green and blue) color space. A vector, a, that represents mean value of the target sample is calculated. Then the mean and standard deviation of each color component is calculated. The threshold value lies in the range μ ± σ which represents a square bounding box in RGB color space with a center at a. Every pixel in the test image is tested whether it lies within the bounding box which contributes to target pixel. The technique for segmentation can avoid high computation time for color image processing. The simple features such as diameter, x-y ratio and area are used as its inputs to the k-nearest neighbors (K-NN) classifier. The software is developed in Visual Basic 6 with a laptop computer acts as a controller and for handling image acquisition and processing. The localization process takes less than one second to be completed. The technique has been tested at indoor and outdoor environment. The efficiency of the estimation is more than 90 percents with a condition that the targets are less than 50 percents occluded.
format Thesis
author Mat Jusoh, Rizal
spellingShingle Mat Jusoh, Rizal
Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
author_facet Mat Jusoh, Rizal
author_sort Mat Jusoh, Rizal
title Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
title_short Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
title_full Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
title_fullStr Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
title_full_unstemmed Development of a Vision-Based Mobile Robot Navigation System for Golf Balls Detection and Location
title_sort development of a vision-based mobile robot navigation system for golf balls detection and location
publishDate 2007
url http://psasir.upm.edu.my/id/eprint/587/1/600413_fk_2007_11_abstrak_je__dh_pdf_.pdf
http://psasir.upm.edu.my/id/eprint/587/
_version_ 1643821866183294976
score 13.211869

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