Construction of elevation map for user-carried outdoor mobile robot using stereo vision

Author

Kayama, Kentaro ; Yairi, Ikuko Eguchi ; Igi, Seiji

Author_Institution

Communications Res. Lab., Kanagawa, Japan

Volume

5

fYear

2003

fDate

5-8 Oct. 2003

Firstpage

4631

Abstract

The construction method of environment description using stereo camera is described in this paper. This method is for safety of user-carried semi-autonomous mobile robot in outdoor environment that contains steps and slopes. This method constructs environment map by using three-dimension occupancy grid. These grids are cuboids fine in height direction. Three-dimension flow is used for self-localization. The elevation map is constructed from the three-dimension occupancy grid, and the dangerous area is calculated from the elevation map. This make it enable to distinguish passable slopes and impassable steps. Moreover, this system is equipped for an outdoor semi-autonomous electric scooter and performed in real world.

Keywords

cameras; collision avoidance; handicapped aids; intelligent robots; mobile robots; stereo image processing; construction method; elevation map; intelligent transportation systems; obstacle avoidance; outdoor semi-autonomous electric scooter; passable slopes; safety; self-localization; stereo camera; stereo vision; three-dimension flow; three-dimension occupancy grid; user- carried semi-autonomous mobile robot; user-carried outdoor mobile robot; Cameras; Intelligent robots; Laboratories; Mobile robots; Motorcycles; Robot vision systems; Senior citizens; Sonar; Stereo vision; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2003. IEEE International Conference on

ISSN

1062-922X

Print_ISBN

0-7803-7952-7

Type

conf

DOI

10.1109/ICSMC.2003.1245714

Filename

1245714