Realtime Color Segmentation, Optical Flow, Depthmap Generation Integration for Mobile Robot Control

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Actually, from the point of view of safety, working space of robot is separated from life space of human being. In order to utilize a robot in a human life, sensing technology to detect human being is required. This research aims to develop a robot vision system that can detect walking or moving human being while robot is also moving, by combining color segmentation, optical flow generation and depth map generation. Following is a list of research topics,1. Color segmentation method from correlation calculation,2. Boundary detection using optical flow generation,3. Depth map generation from stereo cameras,4. Development of high speed three axis robot head,5. Spacio-temporal region segmentation for deformable target,6. Development of mobile robot which has 0nboard vision processing system,7. ExperimentsFinally, using the techniques that have developed, mobile robot control under human being walking environment is achieved. Throughout from experiment, evaluation of the techniques and improvement are reported.