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Stereovision based obstacle detection approach for mobile robot navigation
Bai M(白明); Zhuang Y(庄严); Wang W(王伟)
Department机器人学研究室
Conference Name2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
Conference DateAugust 13-15, 2010
Conference PlaceDalian, China
Author of SourceDalian University of Technology
Source PublicationProceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ
2010
Pages328-333
Indexed ByEI
EI Accession number20104813424814
Contribution Rank1
ISBN978-1-4244-7048-8
AbstractAn 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20059
Collection机器人学研究室
Corresponding AuthorZhuang Y(庄严)
Affiliation1.Research Center of Information and Control, Dalian University of Technology, Dalian, Liaoning 116024, China
2.State Key Laboratory of Robotics, Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning 110016, China
Recommended Citation
GB/T 7714
Bai M,Zhuang Y,Wang W. Stereovision based obstacle detection approach for mobile robot navigation[C]//Dalian University of Technology. Piscataway, NJ:IEEE Computer Society,2010:328-333.
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