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Proceedings Paper

Obstacle detection by segment grouping in mobile robot navigation
Author(s): Ettore Stella; Grazia Cicirelli; Laura Caponetti; Arcangelo Distante
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Paper Abstract

This paper describes a technique for detection of unknown obstacles using a stereo pair of TV cameras, for mobile robot navigational purpose. Three-dimensional information is recovered by matching segments. Moreover a feature grouping technique is used to produce a coarse obstacle reconstruction, but enough for detecting the free space (without obstacles) in the environment. The advantage is to use a such reconstructed obstacle map is twofold: higher resolution than map obtained by active sensors such as ultrasonics and, moreover, the obstacles are detected from far than active sensors. Results on experimental stereo images, acquired in our laboratory, are presented in order to illustrate the reliability of the technique.

Paper Details

Date Published: 30 July 1998
PDF: 6 pages
Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); doi: 10.1117/12.317476
Show Author Affiliations
Ettore Stella, Istituto Elaborazione Segnali ed Immagini (Italy)
Grazia Cicirelli, Istituto Elaborazione Segnali ed Immagini (Italy)
Laura Caponetti, Istituto Elaborazione Segnali ed Immagini (Italy)
Arcangelo Distante, Istituto Elaborazione Segnali ed Immagini (Italy)

Published in SPIE Proceedings Vol. 3364:
Enhanced and Synthetic Vision 1998
Jacques G. Verly, Editor(s)

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