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Tracklet-Based Viterbi Track-Before-Detect Algorithm for Line Following Robots

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Book cover Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 403))

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Abstract

Line following robots could be applied in numerous applications with artificial or natural line. The proposed algorithm uses tracklets and Cartesian-to-polar conversion together with Viterbi algorithm for the estimation of line. The line could be low contrast or deteriorated and Monte Carlo tests are applied for the analysis of algorithm properties. Two algorithms are presented and compared—Viterbi and proposed Tracklet-based Viterbi Track-Before-Detect algorithms. Both of them are evaluated and properties are presented. The proposed algorithm could be better for smoother lines if higher noise disturb images.

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Acknowledgments

This work is supported by the UE EFRR ZPORR project Z/2.32/I/1.3.1/267/05 “Szczecin University of Technology—Research and Education Center of Modern Multimedia Technologies” (Poland).

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Authors and Affiliations

  1. Department of Signal Processing and Multimedia Engineering, West–Pomeranian University of Technology, Szczecin, 26. Kwietnia 10 Street, 71126, Szczecin, Poland

    Grzegorz Matczak & Przemysław Mazurek

Authors
  1. Grzegorz Matczak
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  2. Przemysław Mazurek
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Correspondence to Przemysław Mazurek .

Editor information

Editors and Affiliations

  1. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Robert Burduk

  2. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Konrad Jackowski

  3. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Marek Kurzyński

  4. Dept. of Systems and Computer Networks, Wrocław University of Technology, Wroclaw, Poland

    Michał Woźniak

  5. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Andrzej Żołnierek

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Matczak, G., Mazurek, P. (2016). Tracklet-Based Viterbi Track-Before-Detect Algorithm for Line Following Robots. In: Burduk, R., Jackowski, K., Kurzyński, M., Woźniak, M., Żołnierek, A. (eds) Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015. Advances in Intelligent Systems and Computing, vol 403. Springer, Cham. https://doi.org/10.1007/978-3-319-26227-7_61

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  • DOI: https://doi.org/10.1007/978-3-319-26227-7_61

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26225-3

  • Online ISBN: 978-3-319-26227-7

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