Mobile robot navigation using color image segmentation

• Autorzy: Rano I. , Lazkano E. , Zarautz I. , Monasterio I. , Sierra B.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a first attempt to use colored pixel segmentation for mobile robot navigation and localization. Because of the wide variety of colors that are present in a general semi-structured environment, the non-supervised approach is selected. In order to obtain a robust classification valid for different lighting conditions, we also try different color/brightness parameters combinations to select a better variable set than a single color-space can offer. Two learning paradigms are tried, evaluated and compared: a Self Organizing Map (SOM) and Forgy's clustering algorithm. A new performance evaluation measure is also presented, in order to select the best method/feature subset combination that will give better classification results.

Słowa kluczowe

EN

database systems

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2001
• Tom: Vol. 27, nr 4
• Strony: 97--108
• Opis fizyczny: Bibliogr. 11 poz.,

Twórcy

autor

Rano I.

autor

Lazkano E.

autor

Zarautz I.

autor

Monasterio I.

autor

Sierra B.

• Dept. Comp. Sci. and Artif. Intell., University of the Basque Country, P.O. Box 649, E-20080 San Sebastián,