Title :
Optical range image acquisition for the navigation of a mobile robot
Author :
Blais, Francois ; Rioux, Marc ; Domey, Jacques
Author_Institution :
Nat. Res. Council of Canada, Ottawa, Ont., Canada
Abstract :
A very compact optical range sensor is described which is to be used for the acquisition of the range information for the navigation of a mobile platform. A short review of the techniques currently used to acquire range data for a mobile vehicle is included. Some advantages and disadvantages of the different methods are presented. Emphasis is placed on a possible short-to-medium-term solution of the problem of robot navigation. A short description of the optical principle of the range sensor BIRIS, its real-time implementation on a commercially available image processing system, and its performance are presented. The high immunity of the sensor to ambient illumination and external perturbations is also demonstrated. Experimental results and a technique for the detection of the free space surrounding the vehicle using the range data are given
Keywords :
computer vision; computerised navigation; distance measurement; image sensors; mobile robots; BIRIS; ambient illumination immunity; external perturbations immunity; free space; mobile platform; mobile robot; navigation; optical principle; optical range sensor; range data; real-time implementation; short-to-medium-term solution; Image processing; Image sensors; Lighting; Navigation; Optical sensors; Real time systems; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Vehicles;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132015