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

  • Kazushi Watanabe
  • Ryosuke Kawanishi
  • Toru Kaneko
  • Atsushi Yamashita
  • Hajime Asama
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


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.


navigation environment recognition omni-directional camera 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Kazushi Watanabe
    • 1
  • Ryosuke Kawanishi
    • 1
  • Toru Kaneko
    • 1
  • Atsushi Yamashita
    • 2
  • Hajime Asama
    • 2
  1. 1.Dept. of Mechanical EngineeringShizuoka UniversityShizuokaJapan
  2. 2.Dept. of Precision EngineeringThe University of TokyoTokyoJapan

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