机器人2009，Vol.31Issue(4)：304-310,7.
基于视觉的室外移动机器人障碍物检测方法
Vision-based Obstacle Detection Method for Outdoor Mobile Robot
摘要
Abstract
An obstacle detection method based on wavelet transform module maximum (WTMM) and ensemble learning support vector machine (SVM) is proposed for outdoor mobile robot in complex traffic scenes. Firstly, the WTMM-based singularity analysis theory is introduced into the regions of interest (ROIs) detection of candidate obstacles. Then, an im-proved multi-class SVM based on ensemble learning is constructed to classify and recognize these ROIs. In the experiment, the proposed method is applied to various traffic scenes (e.g., simple highway, complex urban street), and the result proves the validity, universality and real-time performance of the proposed method.关键词
室外移动机器人/障碍物检测/小波模极大值/支持向量机/集成学习Key words
outdoor mobile robot/ obstacle detection/ wavelet transform module maximum (WTMM)/ support vectormachine (SVM)/ ensemble learning分类
信息技术与安全科学引用本文复制引用
沈志熙,黄瀚敏,黄席樾,李敏..基于视觉的室外移动机器人障碍物检测方法[J].机器人,2009,31(4):304-310,7.基金项目
国家自然科学基金资助项目(69674012):重庆市自然科学基金资助项目(2006BA6016). （69674012）
