Evolution-Based Vision Algorithm with Fuzzy Fitness Function for Obstacle Detection

Haythem Ghazouani 1 Tagina Moncef 2 René Zapata 3
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 Laboratoire RIADI-GDL [Manouba]
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The proposed algorithm is a fast evolution-based vision technique for real-time obstacle detection. Based on the Parisian approach, our algorithm evolves a population of 3D particles which constitutes a three-dimensional representation of the scene. Evolution is controlled by a fuzzy fitness function able to deal with uncertain camera measurements, and uses classical evolutionary operators. The result of the algorithm is a set of 3D particles gathered on the surfaces of obstacles.
Keywords : vision obstacle detection Parisian evolutionary approach fuzzy correlation
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Haythem Ghazouani, Tagina Moncef, René Zapata. Evolution-Based Vision Algorithm with Fuzzy Fitness Function for Obstacle Detection. META: Metaheuristics and Nature Inspired Computing, Oct 2010, Djerba, Tunisia. pp.51-52. ⟨lirmm-00954358⟩

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