Title :
Depth assessment by using qualitative stereo-vision
Author :
Xie, M. ; Lee, C.M. ; Li, Z.Q. ; Ma, S.D.
Author_Institution :
Nanyang Technol. Inst., Singapore
Abstract :
Presents a method for assessing the distance between a mobile robot and an obstacle. The idea is to make use of stereo cameras that are mounted on a pan-tilt platform (the pan-tilt device itself is mounted on the mobile robot). When an obstacle is encountered, the pan-tilt device drives the stereo cameras to an orientation such that the left and right images of the obstacle are in a symmetrical position with respect to the vertical central line of the horizontally aligned stereo images. In this configuration, the distance between the left and right images of the obstacle is a function of the depth between the mobile robot and the obstacle. We qualitatively establish this relationship by using a look-up table or a 2D graph to avoid the need to do 3D reconstruction. Therefore, no calibration is needed to determine the intrinsic/extrinsic parameters of the stereo vision
Keywords :
distance measurement; graphs; mobile robots; path planning; robot vision; stereo image processing; symmetry; table lookup; 2D graph; calibration; depth assessment; extrinsic parameters; horizontally aligned stereo images; intrinsic parameters; lookup table; mobile robot; obstacle distance assessment; pan-tilt platform; qualitative stereo vision; stereo cameras; symmetrical images; vertical central line; Calibration; Cameras; Distance measurement; Image reconstruction; Laser beams; Layout; Mobile robots; Motion control; Robot vision systems; Stereo vision; Table lookup;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669258