Object Detection Techniques Applied on Mobile Robot Semantic Navigation

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dc.contributor.author Astua Elizondo, Carlos José
dc.contributor.author Barber Castaño, Ramón Ignacio
dc.contributor.author Crespo Herrero, Jonathan
dc.contributor.author Jardón Huete, Alberto
dc.date.accessioned 2019-01-23T13:06:32Z
dc.date.available 2019-01-23T13:06:32Z
dc.date.issued 2014-04-11
dc.identifier.bibliographicCitation Astua, C., Barber, R., Crespo, J., Jardon, A. (2014). Object Detection Techniques Applied on Mobile Robot Semantic Navigation. Sensors, 14 (4), pp. 6734-6757.
dc.identifier.issn 1424-8220
dc.identifier.uri http://hdl.handle.net/10016/27950
dc.description.abstract The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency.
dc.description.sponsorship The research leading to these results has received funding from the ARCADIA project DPI2010-21047-C02-01, funded by CICYT project grant on behalf of Spanish Ministry of Economy and Competitiveness and from the RoboCity2030-II project (S2009/DPI-1559), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.
dc.format.extent 25
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2014 by the authors; licensee MDPI, Basel, Switzerland.
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Mobile robots
dc.subject.other Semantic navigation
dc.subject.other Object detection
dc.subject.other Contour detection
dc.subject.other Descriptor detection
dc.subject.other Image correlation
dc.title Object Detection Techniques Applied on Mobile Robot Semantic Navigation
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.3390/s140406734
dc.rights.accessRights openAccess
dc.relation.projectID Gobierno de España. DPI2010-21047-C02-01
dc.relation.projectID Comunidad de Madrid. S2009/DPI-1559/RoboCity2030-II
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 6734
dc.identifier.publicationissue 4
dc.identifier.publicationlastpage 6758
dc.identifier.publicationtitle Sensors
dc.identifier.publicationvolume 14
dc.identifier.uxxi AR/0000015250
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