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ASME Press Select Proceedings
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)
By
ISBN:
9780791859902
No. of Pages:
1400
Publisher:
ASME Press
Publication date:
2011
eBook Chapter
36 Monocular Obstacle Detection on a Moving Robotic Vehicle
By
R. Alexander Currie
,
R. Alexander Currie
Electrical and Computer Engineering,
Dalhousie University
, Halifax, Nova Scotia,
Canada
, B3H 4R2
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Ya-Jun Pan
,
Ya-Jun Pan
Mechanical Engineering,
Dalhousie University
, Halifax, Nova Scotia,
Canada
, B3H 4R2
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Yuan Ma
Yuan Ma
Electrical and Computer Engineering,
Dalhousie University
, Halifax, Nova Scotia,
Canada
, B3H 4R2
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Page Count:
4
-
Published:2011
Citation
Currie, RA, Pan, Y, & Ma, Y. "Monocular Obstacle Detection on a Moving Robotic Vehicle." International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011). Ed. Ming, C. ASME Press, 2011.
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The optical flow method is one of the key techniques for obstacle detection. Based primarily on the work by Srinivasan (2000), a C# application was created to implement an algorithm based on the optical flow method. The performance of the application is analyzed with effective experimental results. Significant computational efficiencies were created by expanding the Graphics Processing Unit (GPU) processing to the stages before and after the optical flow process, which made the real-time practical applications of obstacle detection possible.
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