The Obstacle Avoidance System for Mobile Robot Based on Binocular Stereo Vision

被引：3

作者：

Zhao, Yongguo ^{[1
]}

Hou, Xianlun ^{[1
]}

Jia, Lei ^{[2
]}

Ma, Sile ^{[2
]}

机构：

[1] Shandong Acad Sci, Inst Automat, Jinan, Shandong, Peoples R China

[2] Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

Stereo Vision; Mobile Robot; Obstacle Avoidance;

D O I：

10.1109/WCICA.2010.5554283

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：6461 / 6465

页数：5