Obstacle detection by segment grouping in mobile robot navigation

Ettore Stella; Grazia Cicirelli; Laura Caponetti; Arcangelo Distante

doi:10.1117/12.317476

30 July 1998 Obstacle detection by segment grouping in mobile robot navigation

Ettore Stella, Grazia Cicirelli, Laura Caponetti, Arcangelo Distante

Proceedings Volume 3364, Enhanced and Synthetic Vision 1998; (1998) https://doi.org/10.1117/12.317476
Event: Aerospace/Defense Sensing and Controls, 1998, Orlando, FL, United States

Abstract

This paper describes a technique for detection of unknown obstacles using a stereo pair of TV cameras, for mobile robot navigational purpose. Three-dimensional information is recovered by matching segments. Moreover a feature grouping technique is used to produce a coarse obstacle reconstruction, but enough for detecting the free space (without obstacles) in the environment. The advantage is to use a such reconstructed obstacle map is twofold: higher resolution than map obtained by active sensors such as ultrasonics and, moreover, the obstacles are detected from far than active sensors. Results on experimental stereo images, acquired in our laboratory, are presented in order to illustrate the reliability of the technique.

Citation Download Citation

Ettore Stella, Grazia Cicirelli, Laura Caponetti, and Arcangelo Distante "Obstacle detection by segment grouping in mobile robot navigation", Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); https://doi.org/10.1117/12.317476

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