Building Local Safety Maps for a Wheelchair Robot using Vision and Lasers
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Localization and Mapping for Autonomous Navigation in Outdoor Terrains: A Stereo Vision Approach
WACV '07 Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
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The paper presents an algorithm for building a map of obstacles and guiding an autonomous mobile platform in an unknown and changing environment. Depth images captured from a stereovision camera are used to detect objects and denote their location on the obstacle map. The depth images acquired from the stereocamera are encumbered with artefacts which poses the main problem in detecting obstacles. We propose a two-step filtering algorithm which is based on morphological operations and Bayesian inference. Experimental results proved the efficiency of the solution in the real environment wherein both static and mobile obstacles are present.