Improvement of an Obstacle Recognition Method Using the Self Organizing Map by Coding Image Data

Abstract

Our laboratory deals with an obstacle recognition method using Self Organizing Map(SOM) for wheelchair type autonomous mobile robot DREAM-3 which is served to the care for elderly people or a physically handicapped person. In this obstacle detection method using the SOM, the operation for the image processing is not suitable in its computational time for a practical use. In this paper, a coding method of image data is proposed and advantageous features have been proved by the numerical computation.