Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System

2011 ◽  
Vol 48-49 ◽  
pp. 749-752 ◽  
Author(s):  
Xing Zhe Xie ◽  
Heng Wang ◽  
Qian You Luo
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
Ground Plane ◽  
Obstacle Detection ◽  
Consensus Algorithm ◽  
Analysis Method ◽  
Connected Component ◽  
Occupancy Grid ◽  
Stereo Vision System ◽  
Random Sample Consensus

This paper employs Bumblebee2 stereo vision system to detect the obstacles for patrol robot in substation environment. Firstly, with the selected points in the disparity image, the ground plane is calculated by the RANSAC (Random Sample Consensus) algorithm. And then, the local occupancy grid map is built for patrol robot, and the obstacles are detected through connected component analysis method. The actual test in substation environment verified the reliability of the system.

A Real-Time Stereo Vision System for Obstacle Detection and Recognition

2012 ◽  
Author(s):  
Ta-Te Lin ◽  
An-Chih Tsai ◽  
Kai-Chiang Chuang ◽  
Yu-Chou Chen ◽  
Yu-Sung Chen
Keyword(s):  
Real Time ◽  
Stereo Vision ◽  
Vision System ◽  
Obstacle Detection ◽  
Stereo Vision System ◽  
Detection And Recognition

scholarly journals High accuracy stereo vision system for far distance obstacle detection

2004 ◽  
Author(s):  
S. Nedevschi ◽  
R. Schmidt ◽  
R. Danescu ◽  
D. Frentiu ◽  
T. Marita ◽  
...  
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
High Accuracy ◽  
Obstacle Detection ◽  
Stereo Vision System
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