Visually-guided obstacle avoidance in unstructured environments

Author

Lorigo, Liana M. ; Brooks, Rodney A. ; Grimsou, W.E.L.

Author_Institution

Artificial Intelligence Lab., MIT, Cambridge, MA, USA

Volume

1

fYear

1997

fDate

7-11 Sep 1997

Firstpage

373

Abstract

This paper presents an autonomous vision-based obstacle avoidance system. The system consists of three independent vision modules for obstacle detection, each of which is computationally simple and uses a different criterion for detection purposes. These criteria are based on brightness gradients, RGB (red, green, blue) color, and HSV (hue, saturation, value) color, respectively. Selection of which modules are used to command the robot proceeds exclusively from the outputs of the modules themselves. The system is implemented on a small monocular mobile robot and uses very lour resolution images. It has been tested for over 200 hours in diverse environments

Keywords

brightness; image colour analysis; intelligent control; mobile robots; path planning; robot vision; sensor fusion; HSV color; RGB color; brightness gradients; hue; monocular mobile robot; obstacle avoidance; reactive control; robot vision; saturation; sensor fusion; space exploration; unstructured environments; unstructured terrain; vision based navigation; vision modules; Artificial intelligence; Brightness; Computer vision; Image converters; Image resolution; Laboratories; Mobile robots; Navigation; Orbital robotics; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.649086

Filename

649086