Fast Machine Vision Line Detection for Mobile Robot Navigation in Dark Environments

  • Piotr Lech
  • Krzysztof Okarma
  • Jarosław Fastowicz
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 389)


Navigation of mobile robots based on video analysis becomes one of the most popular application areas of machine vision in automation and robotics. Recently growing popularity of Unmanned Aerial Vehicles (drones) as well as some other types of autonomous mobile robots leads to rapid increase of their application possibilities e.g. related to exploration of some areas hardly accessible for people, such as caves, underground corridors, bunkers etc. However, such places are specific in view of lighting conditions so many classical image analysis algorithms cannot be applied effectively for navigation of mobile robots in such environments. In order to utilize the image data for robot navigation in such places some modified machine vision algorithms should be applied such as fast line detection based on statistical binarization discussed in this paper.


Machine vision Robot navigation Edge detection 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Piotr Lech
    • 1
    • 2
  • Krzysztof Okarma
    • 1
    • 2
  • Jarosław Fastowicz
    • 1
    • 2
  1. 1.West Pomeranian University of TechnologySzczecinPoland
  2. 2.Faculty of Electrical EngineeringDepartment of Signal Processing and Multimedia EngineeringSzczecinPoland

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