Indoor mobile robot obstacle detection based on linear structured light vision system

Author

Wei, Boyu ; Gao, Junyao ; Li, Kejie ; Fan, Ying ; Gao, Xueshan ; Gao, Baoquan

Author_Institution

Sch. of Aerosp. Sci. & Eng., Beijing Inst. of Technol., Beijing

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

834

Lastpage

839

Abstract

Indoor mobile robot navigation based on the vision system is a hot research field in recent years. Structured light method is a kind of three dimensional measuring technology which is widely used in mobile robot vision system. In this paper, mobile robot obstacle detection system in indoor environment is designed, linear structured light which is projected in front of the robot assists camera to gather environment information. With the image processing algorithm, we can detect the change of linear structured light per frame, compare with the standard image to reach a conclusion that whether there is an obstacle and then calculate the characteristic value of the obstacle.

Keywords

collision avoidance; computer vision; mobile robots; robot vision; camera imaging model; image processing; indoor mobile robot obstacle detection; linear structured light vision system; Cameras; Image processing; Image storage; Indoor environments; Machine vision; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Robot vision systems; Mobile robot; camera imaging model; linear structured light; obstacle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913108

Filename

4913108