Building a 2D workspace map for mobile robots by stereo vision and registration of marks

Wen-Zen Wu; Wen-Nung Lie; Yung-Chang Chen

doi:10.1117/12.2294292

1 August 1990 Building a 2D workspace map for mobile robots by stereo vision and registration of marks

Wen-Zen Wu, Wen-Nung Lie, Yung-Chang Chen

Proceedings Volume 1395, Close-Range Photogrammetry Meets Machine Vision; 13951D (1990) https://doi.org/10.1117/12.2294292
Event: Close-Range Photogrammetry Meets Machine Vision, 1990, Zurich, Switzerland

Abstract

Using stereo vision and marks pasted on wall to solve the guidance and the environment learning problem for a mobile robot is proposed. A circular window is used to detect corner points as features in the scene. From the perspective transformation matrices of the two cameras and matching point-pairs in images the 3-D coordinates can be determined. With ground projections of these space points and the constraint of minimum diameter of the mobile robot, a few separated polygons are used to represent the occupied space of the surrounding obstacles. With the corner points of the mark the location of the mobile robot can be determined not only by the stereo vision system but also by each of the two cameras with plane-motion constraint. Experimental results show that the depth measurement error is less than 2%, the location determination of the mobile robot working on the ground plane is less than 5%, and the map of the occupied space can be used in further path-planning or collision avoidance.

Citation Download Citation

Wen-Zen Wu, Wen-Nung Lie, and Yung-Chang Chen "Building a 2D workspace map for mobile robots by stereo vision and registration of marks", Proc. SPIE 1395, Close-Range Photogrammetry Meets Machine Vision, 13951D (1 August 1990); https://doi.org/10.1117/12.2294292

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