Line-Circle: A Geometric Filter for Single Camera Edge-Based Object Detection

Seyed Amir Tafrishi, Vahid E. Kandjani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a state-of-the-art approach in object detection for being applied in future simultaneous localization and mapping (SLAM) problems. Although, many SLAM methods are proposed to create suitable autonomy for mobile robots namely ground vehicles, they still face overconfidence and large computations during entrance to immense spaces with many landmarks. In particular, they suffer from impractical applications via sole reliance on the limited sensors like camera. Proposed method claims that unmanned ground vehicles without having huge amount of database for object definition and highly advance prediction parameters can deal with incoming objects during straight motion of camera in realtime. Line-Circle (LC) filter tries to apply detection, tracking and learning to each defined experts to obtain more information for judging scene without over-calculation. In this filter, circle expert let us summarize edges in groups. The Interactive feedback learning between each expert creates minimal error that fights against overwhelming landmark signs in crowded scenes without mapping. Our experts basically are dependent on trust factors' covariance with geometric definitions to ignore, emerge and compare detected landmarks. The experiment for validating the model is taken place via a camera beside an inertial measurement unit sensor for location estimation.

Original languageEnglish
Title of host publication5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages588-594
Number of pages7
ISBN (Print)9781538657034
DOIs
Publication statusPublished - 2018 Sep 14
Externally publishedYes
Event5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017 - Tehran, Iran, Islamic Republic of
Duration: 2017 Oct 252017 Oct 27

Publication series

Name5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017

Conference

Conference5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017
Country/TerritoryIran, Islamic Republic of
CityTehran
Period17/10/2517/10/27

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Line-Circle: A Geometric Filter for Single Camera Edge-Based Object Detection'. Together they form a unique fingerprint.

Cite this