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Constrained Monocular Obstacle Perception with Just One Frame

  • Lluís Pacheco
  • Xavier Cufí
  • Javi Cobos
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4477)

Abstract

This paper presents a monocular perception system tested on wheeled mobile robots. Its significant contribution is the use of a single image to obtain depth information (one bit) when robots detect obstacles. The constraints refer to the environment. Flat and homogeneous floor radiance is assumed. Results emerge from using a set of multi-resolution focus measurement thresholds to avoid obstacle collision. The algorithm’s simplicity and the robustness achieved can be considered the key points of this work. On-robot experimental results are reported and a broad range of indoor applications is possible. However, false obstacle detection occurs when the constraints fail. Thus, proposals to overcome it are explained.

Keywords

Mobile Robot Machine Vision System Obstacle Detection Navigation Strategy Focus Measure 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Lluís Pacheco
    • 1
  • Xavier Cufí
    • 1
  • Javi Cobos
    • 1
  1. 1.Computer Vision and Robotics Group, Institute of Informatics and Applications, University of Girona, Av. Lluís Santaló sn, 17071 GironaSpain

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