Visual robot navigation using flat earth obstacle projection

Clint Bidlack, Arun Hampapur, Arun Katkere, Liqiang Feng, Farhana Kagalwala, Tom Kraljevic, Gopal Pingali, Shraga Shoval, Terry Weymouth

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous robot navigation requires the solution of several problems like obstacle avoidance and road following. Traditionally, the problem of obstacle avoidance has been solved by using range information acquired through some form of range measurements like laser range cameras or vision based range estimation. This paper presents a novel approach for obstacle avoidance which does not require true range measurement. Obstacle information is acquired using a single color camera. Detected obstacles are projected into 3D grid derived from the camera geometry and a locally flat earth model for the terrain. A weighted polar histogram technique is used to generate the vehicle steering angle based on the current grid information.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3376-3381
Number of pages6
Editionpt 4
StatePublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 8 May 199413 May 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 4
ISSN (Print)1050-4729

Conference

ConferenceProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA
Period8/05/9413/05/94

Fingerprint

Dive into the research topics of 'Visual robot navigation using flat earth obstacle projection'. Together they form a unique fingerprint.

Cite this