Stereovision-based obstacle avoidance procedure for autonomous mobile platforms

Authors:
Maciej Polańczyk;Agnieszka Owczarek;Michał Strzelecki;Krzysztof Ślot
Affiliations:
Institute of Electronics, Technical University of Lodz, Lodz, Poland;Institute of Electronics, Technical University of Lodz, Lodz, Poland;Institute of Electronics, Technical University of Lodz, Lodz, Poland;Institute of Electronics, Technical University of Lodz, Lodz, Poland
Venue:
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part I
Year:
2011

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Abstract

The paper presents a procedure for collision-free guidance of autonomous mobile platforms through unknown environments. |Stereovision images are used to determine and keep track of an obstacle map, which provides a basis for path-planning The main problem that has to be solved in obstacle map derivation is elimination of artifacts resulting from depth estimation. We propose a two-step artifact filtering procedure, which exploits both withinframe spatial correlations as well as temporal, between-frame correlations to do this task. Experiment results prove efficiency of the adopted approach for platform operation in real environments, where both static and moving obstacles are present.