Find and Follow the Circle: Robot Navigation

R. Montufar-Chaveznava and J. Herrera-Vega (Mexico)


Robotics, image processing, circle detection, edge detection and robot navigation.


Singularities usually convey most relevant information in an image, hence it is important to detect them in a reliable way. In particular, circle detection is essential in some image analysis areas. In this work we present a circle detection method based on a sequence of simple image processing algorithms such as erosion and dilation. The circle detector is integrated to a reactive architecture for autonomous robot navigation. The robot should identify a particular circle, which is present in an image scene, and follow it according its size and position in the image. Circle detection is performed in real-time for reactive responses.

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