The obstacle avoidance system for mobile robot based on binocular stereo vision

Author

Zhao, Yongguo ; Hou, Xianlun ; Jia, Lei ; Ma, Sile

Author_Institution

Inst. of Autom., Shandong Acad. of Sci., Jinan, China

fYear

2010

Firstpage

6461

Lastpage

6465

Abstract

Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software “the Point Grey´s Triclops SDK library”. With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional coordinates of obstacles was calculated, so the accurate positioning of obstacles can be obtained. The mobile robot can avoid obstacles autonomously based on binocular stereo vision. Experimental results show that the mobile robot equipped with the system can complete the tasks of obstacle avoidance and get a good effect.

Keywords

collision avoidance; image matching; image reconstruction; mobile robots; robot vision; software libraries; stereo image processing; Matlab; Point Grey Triclops SDK library; autonomous obstacle avoidance; binocular stereo vision; camera calibration; mobile robot; obstacle avoidance system; obstacle positioning; stereo image matching; three-dimensional reconstruction; Calibration; Cameras; Charge coupled devices; Mobile robots; Robot vision systems; Stereo vision; Three dimensional displays; Mobile Robot; Obstacle Avoidance; Stereo Vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Conference_Location

Jinan

Print_ISBN

978-1-4244-6712-9

Type

conf

DOI

10.1109/WCICA.2010.5554283

Filename

5554283