A novel mobile robots 3D-perception obstacle regions method in indoor environment based on Improved Salient Region Extraction\n(ISRE) is proposed. This model acquires the original image by the Kinect sensor and then gains Original Salience Map (OSM)\nand Intensity Feature Map (IFM) from the original image by the salience filtering algorithm. The IFM was used as the input\nneutron of PCNN. In order to make the ignition range more exact, PCNN ignition pulse input was further improved as follows:\npoint multiplication algorithm was taken between PCNN internal neuron and binarization salience image of OSM; then we\ndetermined the final ignition pulse input.The salience binarization region abstraction was fulfilled by improved PCNN multiple\niterations finally. Finally, the binarization area was mapped to the depth map obtained by Kinect sensor, and mobile robot can\nachieve the obstacle localization function.The method was conducted on a mobile robot (Pioneer3-DX). The experimental results\ndemonstrated the feasibility and effectiveness of the proposed algorithm.
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