Evaluation of object segmentation algorithms as components of autonomous video-based robot systems

摘要

Five robot vision algorithms for object segmentation are explained. This algorithms are compared in an experiment. The aim of the experiment was to check which of this five algorithms are useful for our robotics project in the field of indoor room exploration. In this project a robot shall autonomously generate a map from our office which shall be the foundation to fulfill tasks like an office messenger. Two evaluation criterions were used to get hints with regard to the eligibility if inhomogeneous illumination must be handled. Although the number of researchers, which are working on the field of video based exploration with autonomous robots, is increasing, it don't exist sufficient works at this juncture which give hints how an appropriate evaluation ofrobot vision programs in autonomous robot systems can happen. This work wants to give contribution to this gap.