Vision Based Obstacle Detection for Wheeled Robots


In this paper a real time obstacle detection system for robots is presented. The technique is based on a single camera and no further sensors or encoders are required. The algorithm is independent of geometry and even moving objects can be detected. The system provides a top view map of the robot’s field of view in real-time. First, the images are segmented reasonably. Ground motion estimation and stereo matching is used to classify each segment either belonging to the ground plane or belonging to an obstacle. The resulting map is used for further navigational processing like obstacle avoidance routines, path planning or static map creation. The algorithm has been tested successfully on several platforms.

author = {Tilman Wekel, Olaf Kroll-Peters and Sahin Albayrak},
title = {Mono Vision Based Construction of Elevation Maps in Indoor Environments.},
booktitle = {...},
year = {2008},
isbn = {...},
pages = {...},
location = {...},
doi = {...},
publisher = {...},
address = {...},
Tilman Wekel, Olaf Kroll-Peters, Sahin Albayrak
Conference Paper
IEEE International Conference on Control, Automation and Systems (ICCAS2008)