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Intelligent Autonomous Systems 12 pp 15–24Cite as

Obstacle Avoidance Based on Plane Estimation from 3D Edge Points by Mobile Robot Equipped with Omni-directional Camera

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

Abstract

In this paper, we propose a method for a mobile robot to avoid obstacles in its environment using an omni-directional camera. The method makes an environment map consisting of 3D edge points obtained from omni-directional camera images and estimates the locations of planes by analysing these 3D edge points so that the robot can avoid walls as obstacles. The method has the advantage that it can generate a 3D map in environments constructed by textureless planes. Experimental results show the effectiveness of the proposed method.

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Author information

Authors and Affiliations

  1. Dept. of Mechanical Engineering, Shizuoka University, 3-5-1 Johoku, Naka-ku, Hamamatsu-shi, Shizuoka, 432-8561, Japan

    Kazushi Watanabe, Ryosuke Kawanishi & Toru Kaneko

  2. Dept. of Precision Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

    Atsushi Yamashita & Hajime Asama

Authors
  1. Kazushi Watanabe
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  2. Ryosuke Kawanishi
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  3. Toru Kaneko
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  4. Atsushi Yamashita
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  5. Hajime Asama
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Corresponding author

Correspondence to Kazushi Watanabe .

Editor information

Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Watanabe, K., Kawanishi, R., Kaneko, T., Yamashita, A., Asama, H. (2013). Obstacle Avoidance Based on Plane Estimation from 3D Edge Points by Mobile Robot Equipped with Omni-directional Camera. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_2

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  • DOI: https://doi.org/10.1007/978-3-642-33926-4_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

  • eBook Packages: EngineeringEngineering (R0)

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