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Collision Avoidance for Indoor Mobile Robotics using Stereo Vision Sensor

스테레오 비전 센서를 이용한 실내 모바일 로봇 충돌 회피

  • Kwon, Ki-Hyeon (Dept. of Electronic, Information & Communication Eng., Kangwon National University) ;
  • Nam, Si-Byung (Dept. of Electronic, Information & Communication Eng., Kangwon National University) ;
  • Lee, Se-Hun (Dept. of Electronic, Information & Communication Eng., Kangwon National University)
  • 권기현 (강원대학교 전자정보통신공학과) ;
  • 남시병 (강원대학교 전자정보통신공학과) ;
  • 이세헌 (강원대학교 전자정보통신공학과)
  • Received : 2013.03.11
  • Accepted : 2013.05.09
  • Published : 2013.05.31

Abstract

We detect the obstacle for the UGV(unmanned ground vehicle) from the compound image which is generated by stereo vision sensor masking the depth image and color image. Stereo vision sensor can gathers the distance information by stereo camera. The obstacle information from the depth compound image can be send to mobile robot and the robot can localize the indoor area. And, we test the performance of the mobile robot in terms of distance between the obstacle and the robot's position and also test the color, depth and compound image respectively. Moreover, we test the performance in terms of number of frame per second which is processed by operating machine. From the result, compound image shows the improved performance in distance and number of frames.

Keywords

Stereo Vision;Depth Image;UGV

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