Abstract
This paper reports the real time vision algorithm ELS, designed for obstacle detection and ground identification for AGV navigation using multi-baseline stereo. Our major contributions are (1) the Disparity Gradient Filter for noise reduction, (2) ground orientation detection using extended Hough Transform, and (3) the establishment of error model for obstacle detection. Experiments show that the algorithm works effectively in unstructured terrain.
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© 2001 Springer-Verlag Berlin Heidelberg
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Wang, H., Xu, J., Guzman, J.I., Jarvis, R.A., Goh, T., Chan, C.W. (2001). Real Time Obstacle Detection for AGV Navigation Using Multi-baseline Stereo. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_56
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DOI: https://doi.org/10.1007/3-540-45118-8_56
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