Mobile robot visual navigation using multiple features

被引：9

作者：

Pears, N ^{[1
]}

Liang, BJ ^{[1
]}

Chen, ZZ ^{[1
]}

机构：

[1] Univ York, Dept Comp Sci, York YO10 5DD, N Yorkshire, England

来源：

EURASIP JOURNAL ON APPLIED SIGNAL PROCESSING | 2005年 / 2005卷 / 14期

关键词：

plane segmentation; image rectification; plane and parallax; obstacle detection; mobile robots;

D O I：

10.1155/ASP.2005.2250

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We propose a method to segment the ground plane from a mobile robot's visual field of view and then measure the height of nonground plane features above the mobile robot's ground plane. Thus a mobile robot can determine what it can drive over, what it can drive under, and what it needs to manoeuvre around. In addition to obstacle avoidance, this data could also be used for localisation and map building. All of this is possible from an uncalibrated camera (raw pixel coordinates only), but is restricted to (near) pure translation motion of the camera. The main contributions are (i) a novel reciprocal-polar (RP) image rectification, (ii) ground plane segmentation by sinusoidal model fitting in RP-space, (iii) a novel projective construction for measuring affine height, and (iv) an algorithm that can make use of a variety of visual features and therefore operate in a wide variety of visual environments.

引用

页码：2250 / 2259

页数：10

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