Adaptive Visual Obstacle Detection for Mobile Robots Using Monocular Camera and Ultrasonic Sensor

  • İbrahim K. İyidir
  • F. Boray Tek
  • Doğan Kırcalı
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7584)


This paper presents a novel vision based obstacle detection algorithm that is adapted from a powerful background subtraction algorithm: ViBe (VIsual Background Extractor). We describe an adaptive obstacle detection method using monocular color vision and an ultrasonic distance sensor. Our approach assumes an obstacle free region in front of the robot in the initial frame. However, the method dynamically adapts to its environment in the succeeding frames. The adaptation is performed using a model update rule based on using ultrasonic distance sensor reading. Our detailed experiments validate the proposed concept and ultrasonic sensor based model update.


Obstacle detection ViBe ultrasonic sensor mobile robot 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • İbrahim K. İyidir
    • 1
  • F. Boray Tek
    • 1
  • Doğan Kırcalı
    • 1
  1. 1.Robotics and Autonomous Vehicles Laboratory, Department of Computer EngineeringIşık UniversityİstanbulTurkey

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