Abstract
The paper presents a procedure for collision-free guidance of autonomous mobile platforms through unknown environments. |Stereovision images are used to determine and keep track of an obstacle map, which provides a basis for path-planning The main problem that has to be solved in obstacle map derivation is elimination of artifacts resulting from depth estimation. We propose a two-step artifact filtering procedure, which exploits both within-frame spatial correlations as well as temporal, between-frame correlations to do this task. Experiment results prove efficiency of the adopted approach for platform operation in real environments, where both static and moving obstacles are present.
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Polańczyk, M., Owczarek, A., Strzelecki, M., Ślot, K. (2011). Stereovision-Based Obstacle Avoidance Procedure for Autonomous Mobile Platforms. In: Corchado, E., Kurzyński, M., Woźniak, M. (eds) Hybrid Artificial Intelligent Systems. HAIS 2011. Lecture Notes in Computer Science(), vol 6678. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21219-2_27
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DOI: https://doi.org/10.1007/978-3-642-21219-2_27
Publisher Name: Springer, Berlin, Heidelberg
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