基于立体视觉的移动机器人导航障碍检测方法

2010 International Conference on Intelligent Control and Information Processing Pub Date : 2010-09-09 DOI:10.1109/ICICIP.2010.5565220

Ming Bai, Yan Zhuang, Wei Wang

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引用次数: 19

摘要

提出了一种基于立体视觉的移动机器人导航障碍检测方法。该方法的目的是检测真实环境，使移动机器人即使在复杂的情况下也能找到安全的路径。我们的新奇是用两阶段感知结构来表示的。检测阶段推断障碍物与地面之间的关系，并确定感兴趣的区域。在此基础上，确认阶段的重点是表征障碍物的轮廓和位置，去除大部分人工制品。该方法综合了感兴趣区域的投影和深度不连续的统计信息来表征障碍物。该检测确认结构对各种光照条件具有鲁棒性，对负障碍物有效，不受镜面反射效应的影响，对动态障碍物的干扰具有实时响应能力。实验结果验证了该方法的有效性、可靠性和实时性。

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Stereovision based obstacle detection approach for mobile robot navigation

An obstacle detection approach based on stereo vision is proposed for mobile robot navigation. The aim of the approach is to detect a real environment to allow a mobile robot to find a safe path even in complex scenarios. Our novelty is represented in terms of the two-stage perception structure. The detection stage infers the relationship between obstacles and a ground, and determines the region of interest. Based on this, the confirmation stage focuses on characterizing the contours and positions of obstacles and getting rid of most artefacts. The approach synthesizes the statistical information of projections and depth discontinuities in the region of interest to characterize obstacles. The detection-confirmation structure is robust to various lighting conditions, effective to negative obstacles, free to specular reflection effect, and real-time response to the interference from dynamic obstacles. Experimental results verified the effectiveness, reliability and real-time performance of the proposed approach.

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2010 International Conference on Intelligent Control and Information Processing

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