Constrained Monocular Obstacle Perception with Just One Frame

Authors:
Lluís Pacheco;Xavier Cufí;Javi Cobos
Affiliations:
Computer Vision and Robotics Group, Institute of Informatics and Applications, University of Girona, Av. Lluís Santaló sn, 17071 Girona, Spain;Computer Vision and Robotics Group, Institute of Informatics and Applications, University of Girona, Av. Lluís Santaló sn, 17071 Girona, Spain;Computer Vision and Robotics Group, Institute of Informatics and Applications, University of Girona, Av. Lluís Santaló sn, 17071 Girona, Spain
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
Year:
2007

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Abstract

This paper presents a monocular perception system tested on wheeled mobile robots. Its significant contribution is the use of a single image to obtain depth information (one bit) when robots detect obstacles. The constraints refer to the environment. Flat and homogeneous floor radiance is assumed. Results emerge from using a set of multi-resolution focus measurement thresholds to avoid obstacle collision. The algorithm's simplicity and the robustness achieved can be considered the key points of this work. On-robot experimental results are reported and a broad range of indoor applications is possible. However, false obstacle detection occurs when the constraints fail. Thus, proposals to overcome it are explained.