Stereovision-based algorithm for obstacle avoidance
2009 (English)In: Intelligent Robotics And Applications, Proceedings / [ed] Xie, M; Xiong, Y; Xiong, C; Liu, H; Hu, Z, Springer Berlin/Heidelberg, 2009, Vol. 5928 LNAI, 195-204 p.Conference paper (Refereed)
This work presents a vision-based obstacle avoidance algorithm for autonomous mobile robots. It provides an efficient solution that uses a minimum of sensors and avoids, as much as possible, computationally complex processes. The only sensor required is a stereo camera. The proposed algorithm consists of two building blocks. The first one is a stereo algorithm, able to provide reliable depth maps of the scenery in frame rates suitable for a robot to move autonomously. The second building block is a decision making algorithm that analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on sequences of self-captured outdoor images and its results have been evaluated. The performance of the algorithm is presented and discussed.
Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2009. Vol. 5928 LNAI, 195-204 p.
, Lecture Notes in Artificial Intelligence, ISSN 0302-9743 ; 5928
Autonomous robot navigation, Obstacle avoidance, Stereo vision, Autonomous Mobile Robot, Building blockes, Complex Processes, Decision-making algorithms, Depth Map, Frame rate, Obstacle avoidance algorithms, Outdoor images, Stereo algorithms, Stereo cameras, Vision based, Algorithms, Navigation, Navigation systems, Robotics, Robots, Sensors
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-50993DOI: 10.1007/978-3-642-10817-4_19ISI: 000279602600019ISBN: 978-3-642-10816-7OAI: oai:DiVA.org:kth-50993DiVA: diva2:463168
2nd International Conference Intelligent Robotics and Applications Location: Singapore, SINGAPORE Date: DEC 16-18, 2009
ProjectsVision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved