Vision-Based Obstacle Detection and Avoidance: Application to Robust Indoor Navigation of Mobile Robots
We propose a more practical and efficient method for obstacle detection and avoidance. In this paper, a robot detects obstacles based on the projective invariants of stereo cameras, fuses this information with two-dimensional scanning sensor data, and finally builds up a more informative
and conservative occupancy map. Although this approach is not supposed to recognize the exact shape of the obstacles, this shortcoming is overcome in the actual application by its fast calculation time and robustness against the illumination conditions. To avoid detected obstacles, a new reactive
obstacle avoidance strategy is also presented. To evaluate the proposed method, we applied it to the mobile robot iMARO-III. In this test, iMARO-III has succeeded in long-term operation for 7 days continuously without any intervention of engineers and any collision in the real office environment.
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MOBILE ROBOT NAVIGATION;
Document Type: Research Article
Fundamental Technology Team, Mechatronics & Manufacturing Center, Samsung Electronics Co., Ltd, 416, Maetan-3 Dong, Yeongtong-Gu, Suwon–City, Gyeonggi-Do 443-742, South Korea;, Email: [email protected]
Fundamental Technology Team, Mechatronics & Manufacturing Center, Samsung Electronics Co., Ltd, 416, Maetan-3 Dong, Yeongtong-Gu, Suwon–City, Gyeonggi-Do 443-742, South Korea
Publication date: 2008-04-01