基于立体视觉的未知环境实时避障系统

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262486

F. Ferrari, E. Grosso, G. Sandini, M. Magrassi

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引用次数: 56

摘要

介绍了一种用于在未知环境中实时检测和躲避障碍物的立体视觉系统。这只是基于Brook包容架构的移动机器人控制系统架构的底层。该级别基于立体视觉算法，该算法使用预先计算的地面视差测量和在线获取的灰度立体图像。地板应该是平面的。该算法已成功应用于移动车辆，该车辆能够在实验室等不可预测的环境中移动，而不会发生碰撞。

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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A stereo vision system for real time obstacle avoidance in unknown environment

A stereo vision system for detecting and avoiding obstacles in real time in an unknown environment is described. This is only the low level of the control system architecture of a mobile robot based on the Brook's subsumption architecture. This level is based on a stereo vision algorithm that uses precomputed measurement of the ground floor disparity, and online acquired grey-level stereo images. The floor is supposed to be planar. The algorithm has been successfully implemented on a mobile vehicle, that is capable of moving around in an unpredictable environment, like a laboratory, without collision.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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