Title :
Visually-guided obstacle avoidance in unstructured environments
Author :
Lorigo, Liana M. ; Brooks, Rodney A. ; Grimsou, W.E.L.
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
This paper presents an autonomous vision-based obstacle avoidance system. The system consists of three independent vision modules for obstacle detection, each of which is computationally simple and uses a different criterion for detection purposes. These criteria are based on brightness gradients, RGB (red, green, blue) color, and HSV (hue, saturation, value) color, respectively. Selection of which modules are used to command the robot proceeds exclusively from the outputs of the modules themselves. The system is implemented on a small monocular mobile robot and uses very lour resolution images. It has been tested for over 200 hours in diverse environments
Keywords :
brightness; image colour analysis; intelligent control; mobile robots; path planning; robot vision; sensor fusion; HSV color; RGB color; brightness gradients; hue; monocular mobile robot; obstacle avoidance; reactive control; robot vision; saturation; sensor fusion; space exploration; unstructured environments; unstructured terrain; vision based navigation; vision modules; Artificial intelligence; Brightness; Computer vision; Image converters; Image resolution; Laboratories; Mobile robots; Navigation; Orbital robotics; Testing;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.649086
