Vision based obstacle detection for autonomous industrial vehicles

Author

Fernández, J. ; Grau, A. ; Martínez, A.B.

Author_Institution

Autom. Control & Comput. Eng. Dept., Univ. Politecnica de Catalunya, Barcelona, Spain

Volume

1

fYear

1999

fDate

1999

Firstpage

167

Abstract

A low computing cost obstacle detection technique based on the stereo motion principle is presented. The process followed is based on the height estimation of world objects from the analysis of the height of the regions defined by the objects in a sequence of images. Only the regions that are located within the transitional zone and have a different aspect with respect to the transitional path (the potential obstacle regions), are analysed along the image sequence

Keywords

collision avoidance; image segmentation; image sequences; industrial robots; mobile robots; navigation; robot vision; stereo image processing; autonomous industrial vehicles; height estimation; image sequence; obstacle detection technique; obstacle regions; stereo motion principle; transitional path; transitional zone; vision based obstacle detection; world objects; Computer vision; Costs; Image analysis; Mobile robots; Navigation; Object detection; Optical sensors; Remotely operated vehicles; Sensor phenomena and characterization; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on

Conference_Location

Barcelona

Print_ISBN

0-7803-5670-5

Type

conf

DOI

10.1109/ETFA.1999.815352

Filename

815352