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

[31] Classification of road sign type using mobile stereo vision [J].

McLoughlin, S ;

Deegan, C ;

Fitzgerald, C ;

Markham, C .

OPTO-IRELAND 2005: IMAGING AND VISION, 2005, 5823 :133-142

[32] Stereo Vision-based Autonomous Target Detection and Tracking on an Omnidirectional Mobile Robot [J].

Luo, Wei ;

Xiao, Zhefei ;

Ebel, Henrik ;

Eberhard, Peter .

ICINCO: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2019, :268-275

[33] Stereo vision terrain modeling for non-planar mobile robot mapping and navigation [J].

Thompson, S ;

Kagami, S .

2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7, 2004, :5392-5397

[34] Vision-based Obstacle Avoidance System for Autonomous Mobile Robot in Outdoor Environment [J].

Jung, Ji Eun ;

Lee, Kil Soo ;

Park, Hyung Gyu ;

Koh, Yung Ho ;

Bae, Jong Il ;

Lee, Man Hyung .

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010), 2010, :2324-2327

[35] Active Appearance-Based Robot Localization Using Stereo Vision [J].

J.M. Porta ;

J.J. Verbeek ;

B.J.A. Kröse .

Autonomous Robots, 2005, 18 :59-80

[36] Active appearance-based robot localization using stereo vision [J].

Porta, JM ;

Verbeek, JJ ;

Kröse, BJA .

AUTONOMOUS ROBOTS, 2005, 18 (01) :59-80

[37] A Navigation System for Service Robot using Stereo Vision and Kalman Filtering [J].

Budiharto, Widodo ;

Santoso, Ari ;

Purwanto, Djoko ;

Jazidie, Achmad .

2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2011, :1771-1776

[38] Research on ROI Image Processing Technology of Teleoperation Construction Robot Based on Trinocular Stereo Vision [J].

Gong, Mingde ;

Tian, Bo ;

Ning, Yue ;

Li, Weiwei .

MECHANICAL AND ELECTRONICS ENGINEERING III, PTS 1-5, 2012, 130-134 :2581-+

[39] Object Detection and Obstacle Avoidance for Mobile Robot using Stereo Camera [J].

Lagisetty, R. ;

Philip, N. K. ;

Padhi, R. ;

Bhat, M. S. .

2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2013, :605-610

[40] Deep learning based disparity map estimation using stereo vision for UAV [J].

Lee Y. ;

Yoon K. .

Transactions of the Korean Institute of Electrical Engineers, 2020, 69 (05) :723-728

← 1 2 3 4 5 →