Stereovision-Based Algorithm for Obstacle Avoidance

Authors:
Lazaros Nalpantidis;Ioannis Kostavelis;Antonios Gasteratos
Affiliations:
Robotics and Automation Lab., Production and Management Engineering Dept., Democritus University of Thrace, Xanthi, Greece GR-671 00;Robotics and Automation Lab., Production and Management Engineering Dept., Democritus University of Thrace, Xanthi, Greece GR-671 00;Robotics and Automation Lab., Production and Management Engineering Dept., Democritus University of Thrace, Xanthi, Greece GR-671 00
Venue:
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Year:
2009

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Abstract

This work presents a vision-based obstacle avoidance algorithm for autonomous mobile robots. It provides an efficient solution that uses a minimum of sensors and avoids, as much as possible, computationally complex processes. The only sensor required is a stereo camera. The proposed algorithm consists of two building blocks. The first one is a stereo algorithm, able to provide reliable depth maps of the scenery in frame rates suitable for a robot to move autonomously. The second building block is a decision making algorithm that analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on sequences of self-captured outdoor images and its results have been evaluated. The performance of the algorithm is presented and discussed.