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Stereovision-based algorithm for obstacle avoidance
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
Production and Management Engineering Dept., Democritus University of Thrace, Greece.
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, Published paper (Refereed)
Abstract [en]

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.
Series
Lecture Notes in Artificial Intelligence, ISSN 0302-9743 ; 5928
Keyword [en]
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
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-50993DOI: 10.1007/978-3-642-10817-4_19ISI: 000279602600019ISBN: 978-3-642-10816-7 (print)OAI: oai:DiVA.org:kth-50993DiVA: diva2:463168
Conference
2nd International Conference Intelligent Robotics and Applications Location: Singapore, SINGAPORE Date: DEC 16-18, 2009
Projects
Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
Note
QC 20111209Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-09Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf