Corridor Navigation and Obstacle Distance Estimation for Monocular Vision Mobile Robots
نویسندگان
چکیده
To achieve autonomous indoor mobile robot navigation, the robot needs to identify the direction, obstacle position and other information. This paper describes a solution for indoor mobile robot navigation and obstacle distance detection which based on monocular vision. We use Hough transform to find the straight lines in the corridor environment which were used to find the vanishing point as the navigation direction for the mobile robot. At the same time, use the priori knowledge of the corridor environment and the pinhole camera model to calculate the distance of the obstacle. Test results on our robot system show that the algorithm presented in this paper can detect the direction of the corridor and estimate the obstacle distance accuracy. This algorithm is relatively simple with high real-time ability and robustness
منابع مشابه
Navigation Techniques of Mobile Robots In Greenhouses
With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...
متن کاملNavigation Techniques of Mobile Robots In Greenhouses
With the continuous development of the industrialization process, the countries all over the world gradually appeared lack of agricultural labor force and aging phenomenon, which was especially prominent in developed countries. However the agricultural robot with high operating efficiency, high qualities of work will play an increasingly important role in future agricultural production. Robot n...
متن کاملA Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots
This paper presents a monocular vision sensor-based obstacle detection algorithm for autonomous robots. Each individual image pixel at the bottom region of interest is labeled as belonging either to an obstacle or the floor. While conventional methods depend on point tracking for geometric cues for obstacle detection, the proposed algorithm uses the inverse perspective mapping (IPM) method. Thi...
متن کاملMonocular Vision based Indoor Mobile Robot
This paper presents the indoor mobile robot that moves automatically without needing environment information beforehand while recognizing the frontal surrounding environment with only one general camera. Based on the frontal image, the robot detects two boundary lines, some obstacle regions, and a moving direction. When the obstacle is detected, the avoidance or stop movement is worked accordin...
متن کاملA Flexible Framework for Vision based Obstacle Avoidance Problem
This paper addresses a new architecture that employs optical flow for vision based obstacle avoidance problem for mobile robot navigation. The proposed architecture utilizes monocular vision for navigation and obstacle avoidance. Real experiments to guide a Pioneer 3-DX mobile robot in indoor environments are presented, and the analysis of the results allow us to validate the proposed behavior ...
متن کامل