文章基本信息

标题：Local Environment Recognition System Using Modified SURF-Based 3D Panoramic Environment Map for Obstacle Avoidance of a Humanoid Robot
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作者：Tae-Koo Kang ; In-Hwan Choi ; Gwi-Tae Park 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/56552
语种：English
出版社：SAGE Publications
摘要：This paper addresses a local environment recognition system for obstacle avoidance. In vision systems, obstacles that are located beyond the Field of View (FOV) cannot be detected precisely. To deal with the FOV problem, we propose a 3D Panoramic Environment Map (PEM) using a Modified SURF algorithm (MSURF). Moreover, in order to decide the avoidance direction and motion automatically, we also propose a Complexity Measure (CM) and Fuzzy-Logic-based Avoidance Motion Selector (FL-AMS). The CM is utilized to decide an avoidance direction for obstacles. The avoidance motion is determined using FL-AMS, which considers environmental conditions such as the size of obstacles and available space. The proposed system is applied to a humanoid robot built by the authors. The results of the experiment show that the proposed method can be effectively applied to a practical environment.
关键词：Obstacle Avoidance; 3D Panoramic Environment Map; Avoidance Motion Selection; Complexity Measure; Humanoid Robot