Mobile robot navigation based on images

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Supervisor:
Dr. Horváth Gábor
Department of Measurement and Information Systems

We put an image capturing device on a moving vehicle to send pictures to the image processing unit. The moving vehicle is a MITMOT car, which was

developed by the Budapest University of Technology and Economincs. The image capturing device is a Sony Ericcson Xperia X8 mobile phone, and the image processing unit is a computer. The car is navigated by the the information extracted from the received pictures.

The pictures and the instructions are sent over separate wireless connections. After the communication networks are established, they can be used to create different tasks.

In the first part of the paper I review the devices of the developed system and the features of the communication networks. In the following section I present the theoretical basics of the image processing, that I used for detecting the objects. In the next part I demonstrate the problem of the distance measurment, then I present the operation of my developed applications.

The first applications is the obstacle detecting algorithm, which can isolate the obstacles on the pictures and can maneuver the car based on the processed information.

The second application is a shape finder program, which is able to locate a specified marker on the pictures that is used as the basis of the navigation. The third application is a map creator algorithm, which can draw a 2D map of the environment.

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