Obstacle segmentation approach in ALV navigation
Jingyu Yang · Jisuanji gongcheng yu sheji · 2009
Segmentation is the important step in obstacle detection. A simple segmentation approach based on character function is proposed. First, the approach divides all the pixels of image to two group through defined characteristic function, one is characteristic pixel group which includes character information, such as, edges, contours, and so on, the other is non-characteristic pixel group which includes pixels in smooth region. The pixels in two group are set to 1 or 0 respectively. As a result, original image is characterized to binary image. After that, extra-contour tracing approach is employed to trace the extra contour of the characteristic region, the tracing result is the last segmentation result. The experiment result indicates that the proposed segmentation is feasible and valid.