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Comparative presentation of real-time obstacle avoidance algorithms using solely stereo vision
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.
2010 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This work presents a comparison between vision-based obstacle avoidance algorithms for mobile robot navigation. The issue of obstacle avoidance in robotics demands a reliable solution since mobile platforms often have to maneuver in arbitrary environments with high level of risk. The most significant advantage of the presented work is the use of only one sensor, i.e. a stereo camera, which significantly diminishes the computational cost. Three different versions of the proposed method have been developed. The implementation of these algorithms consists of a stereo vision module, which is common for all the versions, and a decision making module, which is different in each version and proposes an efficient method of processing stereo information in order to navigate a robotic platform. The algorithms have been implemented in C++ and the produced frame rate ensures that the robot will be able to accomplish the proposed decisions in real time. The presented algorithms have been tested on various different input images and their results are shown and discussed.

Place, publisher, year, edition, pages
2010.
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-51024OAI: oai:DiVA.org:kth-51024DiVA: diva2:463245
Conference
IARP/EURON International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance. Sheffield, UK. January 2010
Projects
Vision and Chemiresistor Equipped Web-connected Finding Robots (View-Finder), FP6-IST-2006-045541
Note
QC 20111212Available from: 2011-12-08 Created: 2011-12-08 Last updated: 2011-12-12Bibliographically approved

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CiteExportLink to record
Permanent link

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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