Simple stereo vision system for real-time object recognition for an autonomous mobile robot

2004 ◽  
Author(s):  
G. Novak ◽  
A. Bais ◽  
S. Mahlknecht
Keyword(s):  
Object Recognition ◽  
Mobile Robot ◽  
Real Time ◽  
Stereo Vision ◽  
Vision System ◽  
Autonomous Mobile Robot ◽  
Stereo Vision System

Positioning Autonomous Mobile Robot Based on Measurements Onboard Digital Stereo Vision System

2014 ◽  
Vol 2 (2) ◽  
pp. 37-77 ◽  
Author(s):  
Sergey Valentinovich Kravtsov ◽  
Konstantin Evgenjevich Rumjantsev
Keyword(s):  
Stochastic Model ◽  
Mobile Robot ◽  
Stereo Vision ◽  
Measurement Errors ◽  
Vision System ◽  
Digital System ◽  
Autonomous Mobile Robot ◽  
Measuring Instrument ◽  
Stereo Vision System ◽  
Communication Dynamics

The problem of local positioning of autonomous mobile robot acting on an unknown scene. The measuring instrument is analyzed on-board stereo vision system consisting of two collinear digital camcorders. The description of the measurement space of digital stereo vision, proposed a stochastic model of the measurement errors of point features scenes. The problem of optimizing the choice of reference for local positioning of autonomous mobile robot. A method for communication dynamics of movement of the mobile robot with the parameters of the digital system stereovision.

The KCLBOT: The Challenges of Stereo Vision for a Small Autonomous Mobile Robot

2012 ◽  
Author(s):  
Evangelos Georgiou ◽  
Jian S. Dai ◽  
Michael Luck
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Stereo Vision ◽  
Critical Path ◽  
Vision System ◽  
Autonomous Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Sensory Data ◽  
King's College ◽  
Stereo Vision System

In small mobile robot research, autonomous platforms are severely constrained in navigation environments by the limitations of accurate sensory data to preform critical path planning, obstacle avoidance and self-localization tasks. The motivation for this work is to enable small autonomous mobile robots with a local stereo vision system that will provide an accurate reconstruction of a navigation environment for critical navigation tasks. This paper presents the KCLBOT, which was developed in King’s College London’s Centre for Robotic Research and is a small autonomous mobile robot with a stereo vision system.

An FPGA-based real-time occlusion robust stereo vision system using semi-global matching

2019 ◽  
Vol 17 (5) ◽  
pp. 1447-1468 ◽  
Author(s):  
Lucas F. S. Cambuim ◽  
Luiz A. Oliveira ◽  
Edna N. S. Barros ◽  
Antonyus P. A. Ferreira
Keyword(s):  
Real Time ◽  
Stereo Vision ◽  
Vision System ◽  
Stereo Vision System ◽  
Global Matching

scholarly journals Experiments on mobile robot stereo vision system calibration under hardware imperfection

2018 ◽  
Vol 161 ◽  
pp. 03020 ◽  
Author(s):  
Ramil Safin ◽  
Roman Lavrenov ◽  
Subir Kumar Saha ◽  
Evgeni Magid
Keyword(s):  
Mobile Robot ◽  
Stereo Vision ◽  
Experimental Approach ◽  
Vision System ◽  
Robot Vision ◽  
System Calibration ◽  
Stereo Vision System ◽  
Calibration Methods ◽  
Vertical Level ◽  
Grid Based

Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

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