scholarly journals Rapid Traversability Assessment in 2.5D Grid-based Map on Rough Terrain

10.5772/6233 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 40 ◽  
Author(s):  
Jiajun Gu ◽  
Qixin Cao ◽  
Yi Huang
Keyword(s):  
Stereo Vision ◽  
Vision System ◽  
Rough Terrain ◽  
Soccer Robot ◽  
Uneven Terrain ◽  
Stereo Vision System ◽  
Assessment Approach ◽  
Multiple Grids ◽  
Grid Based ◽  
Terrain Characteristics

This paper presents a rapid traversability assessment approach based on an extended 2.5D grid-based representaion of the rough terrain. Stereo vision system is used to perceive the environment surrounding robot. Conventional 2D, 3D and other 2.5D grid maps determine the traversability indices of the grids directly from the sensor feedback, while our approach attempts to address the indices of terrain from multiple grids instead. By analyzing the properties of multiple grids that the robot is to traverse, passable grids are distinguished, which also takes the robot's size into account. Fuzzy logic framework is applied to extract traversabiltiy indices from the terrain characteristics. A soccer robot equipped with a stereo vision system is adopted for experiments. The results show that our map is capable of speeding the process of traversability assessment and providing an autonomous mobile robot with a appropriate representation of 3D uneven terrain profile.

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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