An obstacle detection and avoidance of a mobile robot with stereo vision camera
2011 International Conference on Electronic Devices, Systems and …, 2011•ieeexplore.ieee.org
This paper presents an obstacle detection and avoidance of mobile robot using stereo
camera for indoor environment. Block matching algorithm is solved the correspondence
problem occurred in comparing stereo images (left and right sensors of the camera). The
algorithm uses Sum of Absolute Differences (SAD). Left image works as a reference block to
the right image and the output is disparity mapping or depth maps with the left coordinate
system. A pair of camera or stereo vision baseline is based on horizontal configuration. The …
camera for indoor environment. Block matching algorithm is solved the correspondence
problem occurred in comparing stereo images (left and right sensors of the camera). The
algorithm uses Sum of Absolute Differences (SAD). Left image works as a reference block to
the right image and the output is disparity mapping or depth maps with the left coordinate
system. A pair of camera or stereo vision baseline is based on horizontal configuration. The …
This paper presents an obstacle detection and avoidance of mobile robot using stereo camera for indoor environment. Block matching algorithm is solved the correspondence problem occurred in comparing stereo images (left and right sensors of the camera). The algorithm uses Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping or depth maps with the left coordinate system. A pair of camera or stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The curve fitting tool would determine the range of each obstacle detected in disparity mapping. The programming activities are using Matlab software starting from capturing images until navigation of mobile robot.
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