A stereo vision system for real time obstacle avoidance in unknown environment
- 4 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 703-708 vol.2
- https://doi.org/10.1109/iros.1990.262486
Abstract
A stereo vision system for detecting and avoiding obstacles in real time in an unknown environment is described. This is only the low level of the control system architecture of a mobile robot based on the Brook's subsumption architecture. This level is based on a stereo vision algorithm that uses precomputed measurement of the ground floor disparity, and online acquired grey-level stereo images. The floor is supposed to be planar. The algorithm has been successfully implemented on a mobile vehicle, that is capable of moving around in an unpredictable environment, like a laboratory, without collision.<>Keywords
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