An approach to obstacle recognition for autonomous mobile robots

Author

Graefe, Volker

Author_Institution

Inst. fur Messtech., Univ. der Bundeswehr Munchen, Neubiberg, Germany

fYear

1990

fDate

3-6 Jul 1990

Firstpage

151

Abstract

Dynamic vision may be utilized for detecting and classifying objects that could be obstacles for a mobile robot. Methods for accomplishing this are introduced. They have been implemented on a multiprocessor vision system and tested in outdoor environments. If conditions are fairly favorable obstacles are reliably recognized and false alarms (e.g. caused by shadows) are rejected. Among the main problems which have not yet been completely solved are the tracking of the road in a great distance, the recognition of the contours of an object when many features are visible on the object´s surface, and the separation of the object from the background

Keywords

computer vision; computerised navigation; computerised pattern recognition; mobile robots; autonomous mobile robots; computer vision; computerised navigation; dynamic vision; obstacle avoidance; obstacle recognition; pattern recognition; tracking; Detectors; Machine vision; Mobile robots; Object detection; Real time systems; Road vehicles; Robot vision systems; System testing; Vehicle detection; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262381

Filename

262381