Abstract
We developed the mobile robot that moved autonomy by an estimation of a road surface based on the color information. The proposed method performs a detection of a road surface by the similarity of local color histogram and a detection of a road corner by the shape of a detected road. The proposed method can robustly detect a road only using a RGB camera. In the experiment using the mobile robot, the robot performs proper right and left turn movement. Thereby, we confirmed the effectiveness of the proposed method.
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