Title :
The obstacle avoidance system for mobile robot based on binocular stereo vision
Author :
Zhao, Yongguo ; Hou, Xianlun ; Jia, Lei ; Ma, Sile
Author_Institution :
Inst. of Autom., Shandong Acad. of Sci., Jinan, China
Abstract :
Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software “the Point Grey´s Triclops SDK library”. With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional coordinates of obstacles was calculated, so the accurate positioning of obstacles can be obtained. The mobile robot can avoid obstacles autonomously based on binocular stereo vision. Experimental results show that the mobile robot equipped with the system can complete the tasks of obstacle avoidance and get a good effect.
Keywords :
collision avoidance; image matching; image reconstruction; mobile robots; robot vision; software libraries; stereo image processing; Matlab; Point Grey Triclops SDK library; autonomous obstacle avoidance; binocular stereo vision; camera calibration; mobile robot; obstacle avoidance system; obstacle positioning; stereo image matching; three-dimensional reconstruction; Calibration; Cameras; Charge coupled devices; Mobile robots; Robot vision systems; Stereo vision; Three dimensional displays; Mobile Robot; Obstacle Avoidance; Stereo Vision;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554283
