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Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

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Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

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dc.contributor.author Ortigosa Araque, Nuria es_ES
dc.contributor.author Morillas Gómez, Samuel es_ES
dc.date.accessioned 2015-05-29T11:40:48Z
dc.date.available 2015-05-29T11:40:48Z
dc.date.issued 2014-08
dc.identifier.issn 0921-0296
dc.identifier.uri http://hdl.handle.net/10251/50976
dc.description.abstract A method to detect obstacle-free paths in real-time which works as part of a cognitive navigation aid system for visually impaired people is proposed. It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user. The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planar-model fitting. We also present experimental results on different real outdoor scenarios showing that our method is the most reliable in the sense that it minimizes the false positives rate. es_ES
dc.description.sponsorship N. Ortigosa acknowledges the support of Universidad Politecnica de Valencia under grant FPI-UPV 2008 and Spanish Ministry of Science and Innovation under grant MTM2010-15200. S. Morillas acknowledges the support of Universidad Politecnica de Valencia under grant PAID-05-12-SP20120696. en_EN
dc.language Inglés es_ES
dc.publisher Springer Verlag (Germany) es_ES
dc.relation.ispartof Journal of Intelligent and Robotic Systems es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Assisted navigation es_ES
dc.subject Free path detection es_ES
dc.subject Fuzzy logic es_ES
dc.subject.classification MATEMATICA APLICADA es_ES
dc.subject.classification EXPRESION GRAFICA EN LA INGENIERIA es_ES
dc.title Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1007/s10846-013-9997-1
dc.relation.projectID info:eu-repo/grantAgreement/UPV//PAID-05-12-SP20120696/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//MTM2010-15200/ES/METODOS DE ANALISIS FUNCIONAL PARA EL ANALISIS MATEMATICO/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Matemática Pura y Aplicada - Institut Universitari de Matemàtica Pura i Aplicada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Matemática Aplicada - Departament de Matemàtica Aplicada es_ES
dc.description.bibliographicCitation Ortigosa Araque, N.; Morillas Gómez, S. (2014). Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane. Journal of Intelligent and Robotic Systems. 75(2):313-330. https://doi.org/10.1007/s10846-013-9997-1 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://link.springer.com/article/10.1007/s10846-013-9997-1 es_ES
dc.description.upvformatpinicio 313 es_ES
dc.description.upvformatpfin 330 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 75 es_ES
dc.description.issue 2 es_ES
dc.relation.senia 279282
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Universitat Politècnica de València es_ES
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