Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.07b
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- Pages.1251-1253
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- 1996
Three Dimensional Obstacle Detection for Indoor Navigation
실내 주행을 위한 3차원 장애물 검출
- Ko, Bok-Kyong (Electrical Eng., MYONGJI Univ.) ;
- Woo, Dong-Min (C.I.E. MYONGJI Univ.)
- Published : 1996.07.22
Abstract
The vision processing system for mobile robots requires real time processing and reliability for the purpose of safe navigation. But, general types of vision systems are not appropriate owing to the correspondence problem which correlates the points out of two images. To determine the obstacle area, we use correspondences of line segments between two perspective images sequentially acquired by camera. To simplify the correspondence, the matching of line segments are performed in the navigation space, based on the assumption that mobile robot should be navigated in the flat surface and the motion of mobile robot between two frames should be approximately known.
Keywords