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

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	3376-3381
Number of pages	6
Edition	pt 4
State	Published - 1994
Externally published	Yes
Event	Proceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA Duration: 8 May 1994 → 13 May 1994

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Number	pt 4
ISSN (Print)	1050-4729

Conference

Conference	Proceedings of the 1994 IEEE International Conference on Robotics and Automation
City	San Diego, CA, USA
Period	8/05/94 → 13/05/94

Cite this

Bidlack, C., Hampapur, A., Katkere, A., Feng, L., Kagalwala, F., Kraljevic, T., Pingali, G., Shoval, S., & Weymouth, T. (1994). Visual robot navigation using flat earth obstacle projection. In Proceedings - IEEE International Conference on Robotics and Automation (pt 4 ed., pp. 3376-3381). (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 4).

@inproceedings{bbd800e1bdd1475aa2b41200675a94fc,

title = "Visual robot navigation using flat earth obstacle projection",

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.",

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

year = "1994",

language = "אנגלית",

isbn = "0818653329",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

number = "pt 4",

pages = "3376--3381",

booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

edition = "pt 4",

note = "Proceedings of the 1994 IEEE International Conference on Robotics and Automation ; Conference date: 08-05-1994 Through 13-05-1994",

}

Bidlack, C, Hampapur, A, Katkere, A, Feng, L, Kagalwala, F, Kraljevic, T, Pingali, G, Shoval, S & Weymouth, T 1994, Visual robot navigation using flat earth obstacle projection. in Proceedings - IEEE International Conference on Robotics and Automation. pt 4 edn, Proceedings - IEEE International Conference on Robotics and Automation, no. pt 4, pp. 3376-3381, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, USA, 8/05/94.

Visual robot navigation using flat earth obstacle projection. / Bidlack, Clint; Hampapur, Arun; Katkere, Arun et al.
Proceedings - IEEE International Conference on Robotics and Automation. pt 4. ed. 1994. p. 3376-3381 (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Visual robot navigation using flat earth obstacle projection

AU - Bidlack, Clint

AU - Hampapur, Arun

AU - Katkere, Arun

AU - Feng, Liqiang

AU - Kagalwala, Farhana

AU - Kraljevic, Tom

AU - Pingali, Gopal

AU - Shoval, Shraga

AU - Weymouth, Terry

PY - 1994

Y1 - 1994

N2 - 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.

AB - 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.

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AN - SCOPUS:0027961462

SN - 0818653329

T3 - Proceedings - IEEE International Conference on Robotics and Automation

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BT - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation

Y2 - 8 May 1994 through 13 May 1994

ER -

Visual robot navigation using flat earth obstacle projection

Abstract

Publication series

Conference

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