Indoor Mobile Robot Obstacle Detection Based on Linear Structured Light Vision System

被引：0

作者：

Wei, Boyu ^{[1
]}

Gao, Junyao ^{[1
]}

Li, Kejie ^{[1
]}

Fan, Ying ^{[1
]}

Gao, Xueshan ^{[1
]}

Gao, Baoquan ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Aerosp Sci & Engn, Beijing 100081, Peoples R China

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年

关键词：

Mobile robot; linear structured light; camera imaging model; obstacle detection;

D O I：

暂无

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：

Indoor mobile robot navigation based on the vision system is a hot research field in recent years. Structured light method is a kind of three dimensional measuring technology which is widely used in mobile robot vision system. In this paper, mobile robot obstacle detection system in indoor environment is designed, linear structured light which is projected in front of the robot assists camera to gather environment information. With the image processing algorithm, we can detect the change of linear structured light per frame, compare With the standard image to reach a conclusion that whether there is an obstacle and then calculate the characteristic value of the obstacle.

引用

页码：834 / 839

页数：6

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