- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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Parking Space and Obstacle Detection Based on a Vision Sensor and Checkerboard Grid Laser
摘要： The accuracy of automated parking technology that uses ultrasonic radar or camera vision for obstacles and parking space identification can easily be affected by the surrounding environment especially when the color of the obstacles is similar to the ground. Additionally, this type of system cannot recognize the size of the obstacles detected. This paper proposes a method to identify parking spaces and obstacles based on visual sensor and laser device recognition methods by installing a laser transmitter on the car. The laser transmitter produces a checkerboard-shaped laser grid (mesh), which varies with the condition encountered on the ground, which is then captured by the camera and taken as the region of interest for the necessary image processing. The experimental results show that this method can effectively identify obstacles as well as their size and parking spaces even when the obstacles and the background have a similar color compared to when only using sensors or cameras alone.
关键词： machine vision,parking space recognition,checkerboard-shaped laser grid,obstacle recognition
更新于2025-09-23 15:21:01
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Mobile Robot Path Planning Using a Laser Range Finder for Environments with Transparent Obstacles
摘要： Environment maps must ?rst be generated to drive mobile robots automatically. Path planning is performed based on the information given in an environment map. Various types of sensors, such as ultrasonic and laser sensors, are used by mobile robots to acquire data on its surrounding environment. Among these, the laser sensor, which has the property of being able to go straight and high accuracy, is used most often. However, the beams from laser sensors are refracted and re?ected when it meets a transparent obstacle, thus generating noise. Therefore, in this paper, a state-of-the-art algorithm was proposed to detect transparent obstacles by analyzing the pattern of the re?ected noise generated when a laser meets a transparent obstacle. The experiment was carried out using the environment map generated by the aforementioned method and gave results demonstrating that the robot could avoid transparent obstacles while it was moving towards the destination.
关键词： re?ection noise,path planning,mobile robot,transparent obstacle recognition,laser range ?nder
更新于2025-09-23 15:21:01