Object detection and obstacle avoidance for mobile robot using stereo camera

2013 IEEE International Conference on Control Applications (CCA) Pub Date : 2013-11-14 DOI:10.1109/CCA.2013.6662816

R. Lagisetty, N. Philip, R. Padhi, M. Bhat

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引用次数: 27

Abstract

The objective of this research is to develop a real time obstacle detection and obstacle avoidance for autonomous navigation of mobile robots using a stereo camera in an unstructured environment. Autonomous navigation of mobile robots demands a) Exact determination of position and orientation of Robot and b) Accurate determination of size, shape, depth and range of potential obstacles in the environment. Simple kinematic model is used for mobile robot and stereo camera with pan and tilt provision is considered for long range operation. Complete 3D reconstruction of object/obstacle is obtained from the stereo matching algorithm and with triangulation method. The pose (position and orientation) of mobile robot is formulated from the static object observation with stereo reference matching points using RANSAC (RANdom SAmple Consensus) in successive frames. Potential field based obstacle avoidance formulation is carried out by using the obstacle range, size information, mobile robot position and orientation. Finally, proportional derivative navigation control loop along with obstacle avoidance algorithm is formulated and verified.

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基于立体摄像机的移动机器人目标检测与避障

本研究的目的是为移动机器人在非结构化环境中使用立体相机进行自主导航开发实时障碍物检测和避障系统。移动机器人的自主导航需要a)准确确定机器人的位置和方向，b)准确确定环境中潜在障碍物的大小、形状、深度和范围。移动机器人采用了简单的运动学模型，并考虑了立体摄像机的平移和倾斜配置，以实现远距离操作。利用立体匹配算法和三角剖分方法，实现了物体/障碍物的完整三维重建。移动机器人的位姿(位置和方向)是由连续帧的静态目标观测和立体参考匹配点构成的，采用RANSAC (RANdom SAmple Consensus)方法。利用障碍物的距离、大小信息、移动机器人的位置和方向，建立了基于势场的避障公式。最后，建立了比例导数导航控制回路，并对其避障算法进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2013 IEEE International Conference on Control Applications (CCA)

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