Construction of elevation map for user-carried outdoor mobile robot using stereo vision

被引：0

作者：

Kayama, K ^{[1
]}

Yairi, IE ^{[1
]}

Igi, S ^{[1
]}

机构：

[1] Commun Res Labs, Yokosuka, Kanagawa, Japan

来源：

2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS | 2003年

关键词：

occupancy grid; outdoor mobile robot; obstacle avoidance; stereo vision; intelligent transportation system;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The construction method of environment description using stereo camera is described in this paper. This method is for safety running of user-carried semi-autonomous mobile robot in outdoor environment that contains steps and slopes. This method constructs environment map by using three-dimension occupancy grid. These grids are cuboids fine in height direction. Three-dimension flow is used for self-localization. The elevation map is constructed from the three-dimension occupancy grid, and the dangerous area is calculated from the elevation map. This make it enable to distinguish passable slopes and impassable steps. Moreover, this system is equipped for an outdoor semi-autonomous electric scooter and performed in real world.

引用

页码：4631 / 4636

页数：6

共 50 条

[41] Vision-Based Obstacle Detection for Mobile Robot in Outdoor Environment
Tsai, Chung-Chih
Chang, Chia-Wen
Tao, Chin-Wang
JOURNAL OF INFORMATION SCIENCE AND ENGINEERING, 2018, 34 (01) : 21 - 34
[42] Vision-based Mobile Robot's Environment Outdoor Perception
Jing, Punan
Zheng, Wanqiang
Xu, Qingyang
PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND APPLICATION ENGINEERING (CSAE2019), 2019,
[43] Vision-based obstacle detection method for outdoor mobile robot
Navigation Guidance and System Engineering Laboratory, College of Automation, Chongqing University, Chongqing 110004, China
不详
Jiqiren, 2009, 4 (304-310):
[44] Monocular vision-based exploration with an outdoor nonholonomic mobile robot
Alencastre-Miranda, M
Muñoz-Gomez, L
Swain-Oropeza, R
PROCEEDINGS OF THE TENTH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS, 2004, : 184 - 189
[45] A Novel Localization System Based on Infrared Vision for Outdoor Mobile Robot
Wang, Jingchuan
Chen, Weidong
LIFE SYSTEM MODELING AND INTELLIGENT COMPUTING, 2010, 6330 : 33 - 41
[46] Outdoor natural environment oriented vision simulation system of mobile robot
Computer Science Department, Nanjing University of Sci. and Technol., Nanjing 210094, China
Xitong Fangzhen Xuebao, 2006, 3 (701-705):
[47] Calibration of an Industrial Robot using a Stereo Vision System
Svaco, Marko
Sekoranja, Bojan
Suligoj, Filip
Jerbic, Bojan
24TH DAAAM INTERNATIONAL SYMPOSIUM ON INTELLIGENT MANUFACTURING AND AUTOMATION, 2013, 2014, 69 : 459 - 463
[48] Robot Path Correction Using Stereo Vision System
Michalos, G.
Makris, S.
Eytan, A.
Matthaiakis, S.
Chryssolouris, G.
45TH CIRP CONFERENCE ON MANUFACTURING SYSTEMS 2012, 2012, 3 : 352 - 357
[49] An elevation map based path planning for mobile robots in a complex outdoor terrain
Yax, Fei
Zhuang, Van
Wang, Wei
Hu, Huosheng
ICIC Express Letters, 2011, 5 (8 B): : 2747 - 2752
[50] Behavior based robot localisation using stereo vision
Sagrebin, Maria
Pauli, Josef
Herwig, Johannes
ROBOT VISION, PROCEEDINGS, 2008, 4931 : 427 - 439

← 1 2 3 4 5 →