A Complementary Vision Strategy for Autonomous Robots in Underground Terrains using SRM and Entropy Models

Omowunmi, Isafiade and Osunmakinde, Isaac and Bagula, Antoine (2013) A Complementary Vision Strategy for Autonomous Robots in Underground Terrains using SRM and Entropy Models, International Journal of Advanced Robotic Systems, 10, 1-13, INTECH.

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This work investigates robots’ perception in underground terrains (mines and tunnels) using statistical region merging (SRM) and the entropy models. A probabilistic approach based on the local entropy is employed. The entropy is measured within a fixed window on a stream of mine and tunnel frames to compute features used in the segmentation process, while SRM reconstructs the main structural components of an imagery by a simple but effective statistical analysis. An investigation is conducted on different regions of the mine, such as the shaft, stope and gallery, using publicly available mine frames, with a stream of locally captured mine images. Furthermore, an investigation is also conducted on a stream of dynamic underground tunnel image frames, using the XBOX Kinect 3D sensors. The Kinect sensors produce streams of red, green and blue (RGB) and depth images of 640 x 480 resolution at 30 frames per second. Integrating the depth information into drivability gives a strong cue to the analysis, which detects 3D results augmenting drivable and non-drivable regions in 2D. The results of the 2D and 3D experiment with different terrains, mines and tunnels, together with the qualitative and quantitative evaluations, reveal that a good drivable region can be detected in dynamic underground terrains.

Item Type: Journal article (paginated)
Additional Information: ISSN 1729-8806
Uncontrolled Keywords: 3D kinect Sensors, Entropy, SRM, Underground Terrains, Drivable Region Detection, Autonomous Robots
Subjects: Computing methodologies > Computer graphics > Image manipulation > Image processing
Alternate Locations: http://www.intechopen.com/journals/international_journal_of_advanced_robotic_systems/a-complementary-vision-strategy-for-autonomous-robots-in-underground-terrains-using-srm-and-entropy-
Date Deposited: 14 Feb 2014
Last Modified: 10 Oct 2019 15:33
URI: http://pubs.cs.uct.ac.za/id/eprint/928

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