Stereo Vision-Based Optimal Path Planning with Stochastic Maps for Mobile Robot Navigation

被引：4

作者：

Sheikh, Taimoor Shakeel ^{[1
]}

Afanasyev, Ilya M. ^{[1
]}

机构：

[1] Innopolis Univ, Inst Robot, Univ Skaya Str 1, Innopolis 420500, Russia

来源：

INTELLIGENT AUTONOMOUS SYSTEMS 15, IAS-15 | 2019年 / 867卷

关键词：

Stereo vision; Optimal path planning; Stochastic map; Occupancy grid; Disparity image; Mobile robot navigation;

D O I：

10.1007/978-3-030-01370-7_4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of stereo vision-based environment mapping and optimal path planning for an autonomous mobile robot by using the methodology of getting 3D point cloud from disparity images, its transformation to 2D stochastic navigation map with occupancy grid cell values assigned from the set {obstacle, unoccupied, occupied}. We re-examined and extended this methodology with a combination of A-Star with binary heap algorithms for obstacle avoidance and indoor navigation of the Innopolis autonomous mobile robot with ZED stereo camera.

引用

页码：40 / 55

页数：16

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