Depth Assessment By Using Qualitative Stereo-Vision
نویسندگان
چکیده
This paper presents a method for assessing the distance between a mobile robot and an obstacle. The idea is to make use of stereo cameras that are mounted on a pan-tilt platform (the pan-tilt device itself is mounted on a mobile robot). When an obstacle occurs, the pantilt device drives the stereo cameras to an orientation such that the left and right images of the obstacle are in a symmetrical position with respect to the vertical central line of the horizontally aligned stereo images. In this con guration, the distance between the left and right images of the obstacle is a function of the depth between the mobile robot and the obstacle. We qualitatively establish this relationship by using a look-up-table or 2D graph to avoid the need of doing 3D reconstruction. Therefore, no calibration is needed to determine the intrinsic/extrinsic parameters of the stereo-vision.
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