Title :
Real time obstacle detection using Alpha parallel systems
Author :
Liu, Laiyuan ; Xie, Ming
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Abstract :
An integrated system for ground plane obstacle detection based on Alpha Data Parallel system with four processors is presented in this paper. We partially use on-line calibration to make the system self adaptable and use the projective transformation method to find the occupied space and/or free space in front of a mobile robot moving on the ground plane. We investigate stereo correspondence problem in the framework of color stereo vision to decrease the ambiguities and inconsistencies of available information in images. The results show our system is efficient and robust
Keywords :
mobile robots; parallel processing; robot vision; stereo image processing; Alpha parallel systems; color stereo vision; ground plane; mobile robot; obstacle detection; on-line calibration; stereo correspondence; Application software; Calibration; Image edge detection; Machine vision; Real time systems; Robot sensing systems; Robot vision systems; Robustness; Space technology; Stereo vision;
Conference_Titel :
Algorithms & Architectures for Parallel Processing, 1996. ICAPP 96. 1996 IEEE Second International Conference on
Print_ISBN :
0-7803-3529-5
DOI :
10.1109/ICAPP.1996.562919
