Title :
Stereo vision based mapping and navigation for mobile robots
Author :
Murray, Don ; Jennings, Cullen
Author_Institution :
Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada
Abstract :
This paper describes a visually guided robot that can plan paths, construct maps and explore an indoor environment. The robot uses a trinocular stereo vision system to produce highly accurate depth images at 2 Hz allowing it to safely travel through the environment at 0.5 m/s. The algorithm integrates stereo vision, occupancy grid mapping, and potential field path planning techniques to form a robust and cohesive robotic system for mapping and navigation. Stereo vision is shown to be a viable alternative to active sensing devices such as sonar and laser range finders
Keywords :
image matching; mobile robots; path planning; robot vision; stereo image processing; mobile robots; navigation; occupancy grid mapping; robot vision; stereo vision; visually guided robot; Computer vision; Digital signal processing chips; Mobile robots; Path planning; Real time systems; Robot sensing systems; Robot vision systems; Robustness; Sonar navigation; Stereo vision;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614387