This paper presents a constrained valley detection
algorithm. The intent is to find valleys in the map for the path planning
that enables a robot or a vehicle to move safely. The constraint to the
valley is a desired width and a desired depth to ensure the space for
movement when a vehicle passes through the valley. We propose an
algorithm to find valleys satisfying these 2 dimensional constraints.
The merit of our algorithm is that the pre-processing and the
post-processing are not necessary to eliminate undesired small valleys.
The algorithm is validated through simulation using digitized
elevation data.
[1] E. W. Dijkstra. "A Note on Two Problems in Connection with Graphs",
Numerische Mathematic, 1959.
[2] Antonio M. Loİpez, Felipe Lumbreras, Joan Serrat, and Juan J. Villanueva,
"Evaluation of Methods for Ridges and Valley Detection", IEEE Trans.
Pattern Analysis and Machine Intelligence, vol. 21, no. 4, pp. 327-335,
April 1993.
[3] D. Page, A. Koschan, M. Abidi, and J. Overholt, "Ridge-Valley Path
Planning for 3D Terrains," in Proc. IEEE Int. Conf. Robotics and
Automation ICRA06, Orlando, FL, pp. 119-124, May 2006.
[4] R. Haralick, "Ridges and Valleys on Digital Images," Computer Vision,
Graphics, and Image Processing, vol. 22, no. 10, pp. 28-38, Apr. 1983.
[5] D. Eberly, R. Gardner, B. Morse, S. Pizer, and C. Scharlach, "Ridges for
Image Analysis," J. Math. Imaging and Vision, vol. 4, no. 4, pp. 353-373,
Dec. 1994.
[6] J. Gauch and S. Pizer, "Multiresolution Analysis of Ridges and Valleys
in Grey-Scale Images," IEEE Trans. Pattern Analysis and Machine
Intelligence, vol. 15, no. 6, pp. 635-646, June 1993.
[1] E. W. Dijkstra. "A Note on Two Problems in Connection with Graphs",
Numerische Mathematic, 1959.
[2] Antonio M. Loİpez, Felipe Lumbreras, Joan Serrat, and Juan J. Villanueva,
"Evaluation of Methods for Ridges and Valley Detection", IEEE Trans.
Pattern Analysis and Machine Intelligence, vol. 21, no. 4, pp. 327-335,
April 1993.
[3] D. Page, A. Koschan, M. Abidi, and J. Overholt, "Ridge-Valley Path
Planning for 3D Terrains," in Proc. IEEE Int. Conf. Robotics and
Automation ICRA06, Orlando, FL, pp. 119-124, May 2006.
[4] R. Haralick, "Ridges and Valleys on Digital Images," Computer Vision,
Graphics, and Image Processing, vol. 22, no. 10, pp. 28-38, Apr. 1983.
[5] D. Eberly, R. Gardner, B. Morse, S. Pizer, and C. Scharlach, "Ridges for
Image Analysis," J. Math. Imaging and Vision, vol. 4, no. 4, pp. 353-373,
Dec. 1994.
[6] J. Gauch and S. Pizer, "Multiresolution Analysis of Ridges and Valleys
in Grey-Scale Images," IEEE Trans. Pattern Analysis and Machine
Intelligence, vol. 15, no. 6, pp. 635-646, June 1993.
@article{"International Journal of Information, Control and Computer Sciences:53320", author = "In-Geun Lim and Jin-Soo Kim and Chirl-Hwa Lee", title = "A Valley Detection for Path Planning", abstract = "This paper presents a constrained valley detection
algorithm. The intent is to find valleys in the map for the path planning
that enables a robot or a vehicle to move safely. The constraint to the
valley is a desired width and a desired depth to ensure the space for
movement when a vehicle passes through the valley. We propose an
algorithm to find valleys satisfying these 2 dimensional constraints.
The merit of our algorithm is that the pre-processing and the
post-processing are not necessary to eliminate undesired small valleys.
The algorithm is validated through simulation using digitized
elevation data.", keywords = "valley, width, depth, path planning.", volume = "3", number = "9", pages = "2197-4", }