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Proceedings Paper

Building a 2D workspace map for mobile robots by stereo vision and registration of marks
Author(s): Wen-Zen Wu; Wen-Nung Lie; Yung-Chang Chen
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Paper Abstract

Using stereo vision and marks pasted on wall to solve the guidance and the environment learning problem for a mobile robot is proposed. A circular window is used to detect corner points as features in the scene. From the perspective transformation matrices of the two cameras and matching point-pairs in images the 3-D coordinates can be determined. With ground projections of these space points and the constraint of minimum diameter of the mobile robot, a few separated polygons are used to represent the occupied space of the surrounding obstacles. With the corner points of the mark the location of the mobile robot can be determined not only by the stereo vision system but also by each of the two cameras with plane-motion constraint. Experimental results show that the depth measurement error is less than 2%, the location determination of the mobile robot working on the ground plane is less than 5%, and the map of the occupied space can be used in further path-planning or collision avoidance.

Paper Details

Date Published: 1 August 1990
PDF: 9 pages
Proc. SPIE 1395, Close-Range Photogrammetry Meets Machine Vision, 13951D (1 August 1990); doi: 10.1117/12.2294292
Show Author Affiliations
Wen-Zen Wu, National Tsing Hua Univ. (China)
Wen-Nung Lie, National Tsing Hua Univ. (China)
Yung-Chang Chen, National Tsing Hua Univ. (China)

Published in SPIE Proceedings Vol. 1395:
Close-Range Photogrammetry Meets Machine Vision
Armin Gruen; Emmanuel P. Baltsavias, Editor(s)

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