Article Per Year (5 Year)
p-Index From 2020 - 2025
0.339
P-Index
This Author published in this journals
All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control)
Eko Purbo Wahyono
Politeknik Elektronika Negeri Surabaya
Computer Science & IT

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Stereo vision-based obstacle avoidance module on 3D point cloud data Eko Purbo Wahyono; Endah Suryawati Ningrum; Raden Sanggar Dewanto; Dadet Pramadihanto
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 18, No 3: June 2020
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v18i3.14829

Abstract

This paper deals in building a 3D vision-based obstacle avoidance and navigation. In order for an autonomous system to work in real life condition, a capability of gaining surrounding environment data, interpret the data and take appropriate action is needed. One of the required capability in this matter for an autonomous system is a capability to navigate cluttered, unorganized environment and avoiding collision with any present obstacle, defined as any data with vertical orientation and able to take decision when environment update exist. Proposed in this work are two-step strategy of extracting the obstacle position and orientation from point cloud data using plane based segmentation and the resultant segmentation are mapped based on obstacle point position relative to camera using occupancy grid map to acquire obstacle cluster position and recorded the occupancy grid map for future use and global navigation, obstacle position gained in grid map is used to plan the navigation path towards target goal without going through obstacle position and modify the navigation path to avoid collision when environment update is present or platform movement is not aligned with navigation path based on timed elastic band method.
Co-Authors Dadet Pramadihanto Endah Suryawati Ningrum Raden Sanggar Dewanto