Mobile Robot Navigation by Stereovision

Authors

Keywords:

stereovision, disparity map, mobile robots navigation, reactive, potential fields

Abstract

This paper presents the design and implementation of a low coststereovision system for being used in mobile robots, which can estimatethe distance at which objects are present in its field of vision. The locationis achieved by means of an abstraction of a stereoscopic vision sensor toa sensor ring type, which will reduce the stereo information to coplanardistance readings as if it was a sonar.The vision system was used for navigating a mobile robot in a structuredenvironment, using the techniques of reactive path planning and potentialfields. The stereovision system implemented showed an average errorof 5.34 cm in estimating distances, being tested as main sensor in thePioneer 3DX robot in different environments under both structured andnavigation strategies mentioned above.

Author Biographies

  • Andrés Felipe Suárez Sánchez

    Ingeniero Electrónico

  • Humberto Loaiza Correa

    PhD en Robótica y Visión Artificial Profesor Titular, Escuela Ingeniería Eléctrica y Electrónica Codirector Grupo PSI ,Universidad del Valle

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WEBGRAFÍA

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Published

2012-06-29

Issue

Vol. 6 No. 11 (2012)

Section

Artículos

How to Cite

Mobile Robot Navigation by Stereovision. (2012). Entre Ciencia E ingeniería, 6(11), 9-23. https://ojs.ucp.edu.co/index.php/entrecienciaeingenieria/article/view/650