The Eye-out-Device Multi-Camera Expansion for Mobile Robot Control

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dc.authoridDönmez, Emrah/0000-0003-3345-8344
dc.authoridKocamaz, Adnan Fatih/0000-0002-7729-8322
dc.authorwosidDönmez, Emrah/W-2891-2017
dc.authorwosidKocamaz, Adnan Fatih/C-2820-2014
dc.contributor.authorDonmez, Emrah
dc.contributor.authorKocamaz, Adnan Fatih
dc.date.accessioned2024-08-04T20:46:54Z
dc.date.available2024-08-04T20:46:54Z
dc.date.issued2019
dc.departmentİnönü Üniversitesien_US
dc.descriptionInternational Conference on Artificial Intelligence and Data Processing (IDAP) -- SEP 21-22, 2019 -- Inonu Univ, Malatya, TURKEYen_US
dc.description.abstractIn visual based control (VBC), a single eye-out-device camera provides a limited viewing area. The multi-camera configuration can be used to overcome this problem. However, simultaneous multi-image processing is a challenging task. In this study; a mobile robot control is performed with Gaussian and adaptive potential field based methods under the eye-out device multi-camera configuration. Images taken from the cameras are stitched according to common features. The color based object detection is operated to detect the robot, target and obstacles in this image. To acquire a suitable path between robot and target, adaptive potential field algorithm is executed. The Gaussian based mobile robot controller is used to drive on the robot according to the path plan. In this way, configuration space can be expanded via cameras. At the same time, systematic and unsystematic errors are avoided through VBC. Simulation and real-world experiments show that the system demonstrates a good performance and efficiency.en_US
dc.description.sponsorshipIEEE Turkey Sect,Anatolian Sci,Inonu Univ, Comp Sci Dept,Inonu Univ, Muhendisli Fakultesien_US
dc.description.sponsorshipTUBITAK [116E568]en_US
dc.description.sponsorshipThis study is supported by TUBITAK with 116E568 project number. Experiments have been implemented in ROSE Lab (Robotic and Autonomous Systems Ensemble Laboratory). We thank computer engineering department of Inonu University.en_US
dc.identifier.doi10.1109/idap.2019.8875981
dc.identifier.scopus2-s2.0-85074882276en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://doi.org/10.1109/idap.2019.8875981
dc.identifier.urihttps://hdl.handle.net/11616/99036
dc.identifier.wosWOS:000591781100108en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2019 International Conference on Artificial Intelligence and Data Processing (Idap 2019)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectVBCen_US
dc.subjectGaussian controlen_US
dc.subjectPotential fielden_US
dc.subjectMulti-cameraen_US
dc.subjectImage stitchingen_US
dc.titleThe Eye-out-Device Multi-Camera Expansion for Mobile Robot Controlen_US
dc.typeConference Objecten_US

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