Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Digital image processing (2nd ed.)
Digital image processing (2nd ed.)
Stereo vision for planetary rovers: stochastic modeling to near real-time implementation
International Journal of Computer Vision
Performance of optical flow techniques
International Journal of Computer Vision
Real-time vehicle trajectory supervision on the highway
International Journal of Robotics Research
Robot Vision
Generalized image matching by the method of differences
Generalized image matching by the method of differences
| Hi-index | 0.00 |
In this paper, we present an approach to autonomousrobot navigation in an unknown environment. We design and integratealgorithms to reconstruct the scene, locate obstacles and doshort-term field-based path planning. The scene reconstruction isdone using a region matching flow algorithm to recover imagedeformation and structure from motion to recover depth. Obstaclesare located by comparing the surface normal of the known floor withthe surface normal of the scene. Our path planning method is based onelectric-like fields and uses current densities that can guaranteefields without local minima and maxima which can provide solutionswithout the need of heuristics that plague the more traditionalpotential fields approaches. We implemented a modular distributedsoftware platform (FBN) to test this approach and we ran severalexperiments to verify the performance with very encouraging results.