移动机器人导航采用声纳视觉算法，应用于全向视觉

2015 AI & Robotics (IRANOPEN) Pub Date : 2015-04-12 DOI:10.1109/RIOS.2015.7270728

Mohammad Hossein Bamorovat Abadi, M. A. Oskoei, A. Fakharian

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引用次数: 7

摘要

提出了一种应用于全向视觉的声纳视觉算法。它为移动机器人在未知环境中提供自主导航。它使用全向图像，无需任何事先校准，并检测静态和动态障碍物。它根据机器人前方的视觉声纳光束估计出最理想的路径。在室内环境下对移动机器人进行了实验。实验结果表明，考虑到计算成本，该算法具有良好的性能。

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Mobile robot navigation using sonar vision algorithm applied to omnidirectional vision

This paper presents a sonar vision algorithm applied to omnidirectional vision. It provides autonomous navigation for a mobile robot in an unknown environment. It uses omnidirectional images without any prior calibration and detects static and dynamic obstacles. It estimates the most intended path based on visual sonar beams in front of the robot. The proposed method was tested on a mobile robot in indoor environment. The experimental results show acceptable performance considering computation costs.

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来源期刊

2015 AI & Robotics (IRANOPEN)

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