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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)
作者部门机器人学研究室
会议名称2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
会议日期August 13-15, 2010
会议地点Dalian, China
会议主办者Dalian University of Technology
会议录名称Proceedings of 2010 International Conference on Intelligent Control and Information Processing, ICICIP 2010
出版者IEEE Computer Society
出版地Piscataway, NJ
2010
页码328-333
收录类别EI
EI收录号20104813424814
产权排序1
ISBN号978-1-4244-7048-8
摘要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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20059
专题机器人学研究室
通讯作者Zhuang Y(庄严)
作者单位1.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
推荐引用方式
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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