Article(id=1242121499709084377, tenantId=1146029695717560320, journalId=1146031591421210625, issueId=1242121471175234208, articleNumber=null, orderNo=null, doi=10.3981/j.issn.1000-7857.2011.08.009, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1284048000000, receivedDateStr=2010-09-10, revisedDate=1292774400000, revisedDateStr=2010-12-20, acceptedDate=null, acceptedDateStr=null, onlineDate=1300377600000, onlineDateStr=2011-03-18, pubDate=1300377600000, pubDateStr=2011-03-18, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1300377600000, onlineIssueDateStr=2011-03-18, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1774074443029, creator=sys-migrate, updateTime=1774074443029, updator=sys-migrate, issue=Issue{id=1242121471175234208, tenantId=1146029695717560320, journalId=1146031591421210625, year='2011', volume='29', issue='11-08', pageStart='3', pageEnd='92', issueExtLink='null', onlineDate='null', pubDate='1300377600000', pubDateStr='2011-03-18', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=3, issueType=-1, specialIssue=null, createTime=1774074436226, creator='sys-migrate', updateTime=1774074436226, updator='sys-migrate', preIssue=null, nextIssue=null, articleTotal=null, ext=null, issueFiles=null, downloadFileDto=null}, startPage=58, endPage=62, ext={EN=ArticleExt(id=1242121504553505504, articleId=1242121499709084377, tenantId=1146029695717560320, journalId=1146031591421210625, language=EN, title=Real-time Detection and Tracking of Road Information for Outdoor Vision-based Robot Based on Improved Otsu, columnId=1242116080374710456, journalTitle=Science & Technology Review, columnName=Articles, runingTitle=null, highlight=null, articleAbstract=The detection and tracking of road information are the basis and prerequisite of environmental exploration and autonomous navigation by mobile robot. In view of the complexity of the outdoor working environment of the robot and the variety of the outdoor illumination conditions, a suitable and novel way of real-time detection and tracking for outdoor robot is presented. First, the video images obtained from CCD camera are preprocessed. Then the Region of Interest (ROI) is extracted and transformed into the HSV color space. The edge information of the road image is obtained from the ROI by using the improved Otsu algorithm. With the anti-jamming ability of the Hough transform, the region where robot can pass through is shown. Finally the weighted Mahalanobis distance discrimination method is used to track the passing area. Experiment results show that this algorithm enjoys a good performance in the detection and tracking of road information in outdoor environment in real-time., authors=null, authorsList=null, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=LU Peiyuan, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=SN5bL7DqiJ7JPfSAwicnFQ==, pdfFileSize=3398742, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1242121503244878533, articleId=1242121499709084377, tenantId=1146029695717560320, journalId=1146031591421210625, language=CN, title=基于改进Otsu的室外道路实时检测与跟踪算法, columnId=1146540929516700224, journalTitle=科技导报, columnName=研究论文, runingTitle=null, highlight=null, articleAbstract=室外道路检测与跟踪是移动机器人完成室外环境探索和自主导航的基础和前提。针对室外机器人工作环境复杂、光照多变等特点，提出了一种适用于室外道路实时检测与跟踪的算法。首先将CCD摄像头获得的画面通过预处理，提取视频画面的感兴趣区域（ROI）并转化为HSV颜色空间下的图像，然后通过改进的自适应阈值分割法（Otsu）获得道路图像的边缘信息，采用抗干扰能力较强的霍夫（Hough）变换得出画面中的可通行区域，最后采用加权马氏距离判别法跟踪可通行区域。实验表明，该算法在室外环境下具有较好的道路识别跟踪能力和实时性。, authors=^{陆培源，王建中，罗 涛}, authorsList=陆培源;王建中;罗 涛, authorCompany=北京理工大学；爆炸科学与技术国家重点实验室，北京 100081, correspAuthors=null, authorNote=null, correspAuthorsNote=陆培源, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=dLELQoLNzeMvBVEzBaTXEg==, pdfFileSize=3398742, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null)}, authors=null, keywords=[Keyword(id=1242121502682841791, tenantId=1146029695717560320, journalId=1146031591421210625, articleId=1242121499709084377, language=CN, 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