Path planning through recognizing the height of O" stacle

Describes the path planning of an autonomous mobile robot using one camera-based sequence image processing. As an assumption, all objects in front of the mobile robot are located on the same plan. Using the moving camera located on the autonomous mobile robot, the robot extracts the angular points o...

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Bibliographic Details
Main Authors: Kang-Hyun Jo, Yeo-Hong Yoon, Inhyuk Moon
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Image recognition
Mobile robots
Path planning
Power electronics
Robot sensing systems
Robot vision systems
Service robots
Stereo vision
Torque control
Online Access:Request full text
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Description
Summary:Describes the path planning of an autonomous mobile robot using one camera-based sequence image processing. As an assumption, all objects in front of the mobile robot are located on the same plan. Using the moving camera located on the autonomous mobile robot, the robot extracts the angular points of obstacle objects, calculates the height using the assumption and discrepancy between two consecutive images. In the image processing, angular points of objects must correspond so that they deliver the size of objects. Thus, the robot passes through if the object has not the height. Otherwise, the robot passes to one side if the obstacle object has the height. Using a newly self-developed mobile robot, the experiments showed the robot works well using this path planning method.
DOI:10.1109/KORUS.2001.975085