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Proceedings Paper

Robot vision system for obstacle avoidance planning
Author(s): Giovanni Attolico; Laura Caponetti; Maria Teresa Chiaradia; Arcangelo Distante
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Paper Abstract

The obstacles are treated as stationary obstacles providing the input to a path planning algorithm. It is assumed that the vehicle is equipped with a TV camera which scans the navigational space and provides information about the obstacles. The sensing system samples the observation space at predetermined time intervals. Due to the relative motion of the camera system with respect to the environment a''two-dimensional image flow is created on the image plane. The appareance of an obstacle can be recovered by means an optical flow analysis of the regions corresponding to surfaces having different depths.

Paper Details

Date Published: 1 March 1991
PDF: 12 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.48085
Show Author Affiliations
Giovanni Attolico, Univ. di Bari (Italy)
Laura Caponetti, Univ. di Bari (Italy)
Maria Teresa Chiaradia, IESI/CNR (Italy)
Arcangelo Distante, IESI/CNR (Italy)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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