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2016 | OriginalPaper | Chapter

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

Authors : Grzegorz Matczak, Przemysław Mazurek

Published in: Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Publisher: Springer International Publishing

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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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Metadata
Title
Tracklet-Based Viterbi Track-Before-Detect Algorithm for Line Following Robots
Authors
Grzegorz Matczak
Przemysław Mazurek
Copyright Year
2016
Book
Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Print ISBN: 978-3-319-26225-3

Electronic ISBN: 978-3-319-26227-7

Copyright Year: 2016

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

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