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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.
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2009 (English)In: IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, 2009Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2009.
Keyword [en]
Stereo Vision, Terrain Traversability, Outdoor Mobile Robot Navigation
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-51022OAI: oai:DiVA.org:kth-51022DiVA: diva2:463242
Conference
IARP/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance January 7th-8th, 2008 - Benicàssim (Spain)
Projects
Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
Note
QC 20111213Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-13Bibliographically approved

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

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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
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