Obstacle Avoidance of Autonomous Mobile Robot using Stereo Vision Sensor

Thegoalof this researchis to developarealtimeobstacle avoidancesystemfor autonomousmobilerobotsusing a stereovision sensor . At first, an obstacledetectionmethodis proposed. It is basedon stereomeasurement without any searchof the correspondingpoints to matchthem. This methodis fast enoughfor a mobile robot which haspoor capabilities to carry out respectableimageprocessing.However therehappeneda problemthatsomeghostobjectsaredetected.We’ll describethesolutionandanexperimentalresultwhichshowstheeffectivenessof theimprovedmethod. Then, a strategy of obstacleavoidanceand an implementationof theproposedmethodto themobilerobotare described.

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