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Stereo-based terrain traversability analysis for robot navigation
Royal Military Academy, Belgium.
Royal Military Academy, Belgium.
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
Electrical and Computer Engineering Dept., Democritus University of Thrace, Greece.
Visa övriga samt affilieringar
2009 (Engelska)Ingår i: IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, 2009Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Outdoor mobile robots, which have to navigate autonomously in a totally nstructured environment need to auto-determine the suitability of the terrain around them for traversal. Traversability estimation is a challenging problem, as the traversability is a complex function of both the terrain characteristics, such as slopes, vegetation, rocks, etc and the robot mobility characteristics, i.e. locomotion method, wheel properties, etc. In this paper, we present an approach where a classification of the terrain in the classes “traversable” and “obstacle” is performed using only stereo vision as input data. In a first step, high-quality stereo disparity maps are calculated by a fast and robust algorithm. This stereo algorithm is explained in section 3 of this paper. Using this stereo depth information, the terrain classification is performed, based upon the analysis of the so-called "v-disparity" image which provides a representation of the geometric content of the scene. Using this method, it is possible to detect non-traversable terrain items (obstacles) even in the case of partial occlusion and without any explicit extraction of coherent structures or any a priori knowledge of the environment. The sole algorithm parameter is a single factor which takes into account the robot mobility characteristics. This terrain traversability estimation algorithm is explained in section 4. The stereo disparity mapping and terrain traversability estimation processes are integrated in an autonomous robot control architecture, proving that the algorithms allow real-time robot control. The results of experiments with this robot navigating on rough outdoor terrain are presented in section 5.

Ort, förlag, år, upplaga, sidor
2009.
Nyckelord [en]
Stereo Vision, Terrain Traversability, Outdoor Mobile Robot Navigation
Nationell ämneskategori
Datorseende och robotik (autonoma system)
Identifikatorer
URN: urn:nbn:se:kth:diva-51022OAI: oai:DiVA.org:kth-51022DiVA, id: diva2:463242
Konferens
IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th, 2008 - Benicàssim (Spain)
Projekt
Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
Anmärkning
QC 20111213Tillgänglig från: 2011-12-08 Skapad: 2011-12-08 Senast uppdaterad: 2018-01-12Bibliografiskt granskad

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http://www.robot.uji.es/documents/rise08/reports/DeCubber.pdf

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