抄録
This paper describes discernment of possible area to move on the road using video camera image for an outdoor autonomous mobile robot and presents experimental results. A mobile robot is equipped with a video camera to watch the front of the robot. The lower middle region of the image of the camera around the foot of the robot is used for a sample region under the assumption that the robot stands on the right place. Hue histogram of the sample region is calculated. On the other hand, whole the image is segmented by means of watershed algorithm and hue histgram of each segmented region is calclated. Comparison based on chi-square method between the sample region and each segmented region tells hue similarity. According to the similarity, the segmented regions in the image is discerned whether each region has same property around the foot area of the robot.
