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Proceedings Paper

Single-camera stereo vision for obstacle detection in mobile robots
Author(s): William Lovegrove; Ben Brame
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Paper Abstract

Stereo vision is attractive for autonomous mobile robot navigation, but the cost and complexity of stereo camera systems and the computational requirements make full stereo vision impractical. A novel optical system allows the capture of a pair of short, wide stereo images from a single camera, which are then processed to detect vertical edges and infer obstacle positions and locations within the planar field of view, providing real-time obstacle detection. Our optical system involves a pair of right-angle prisms stacked vertically, splitting the camera field of view vertically in half. Right angle mirrors on either side redirect the image forward but at a horizontally displaced location, creating two virtual cameras. Tilting these mirrors provides an overlapping image area. Alternately, tilting the prisms produces the same effect. This image area is wide but not very tall. However, in a mobile robot scenario the majority of obstacles of interest intersect this field of view.

Paper Details

Date Published: 10 September 2007
PDF: 8 pages
Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640T (10 September 2007); doi: 10.1117/12.732651
Show Author Affiliations
William Lovegrove, Bob Jones Univ. (United States)
Ben Brame, Bob Jones Univ. (United States)

Published in SPIE Proceedings Vol. 6764:
Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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