3-D Vision System For Obstacle Avoidance

D. Brzakovic; N. Alvertos; L. Hong

doi:10.1117/12.968240

1 January 1987 3-D Vision System For Obstacle Avoidance

D. Brzakovic, N. Alvertos, L. Hong

Proceedings Volume 0852, Mobile Robots II; (1987) https://doi.org/10.1117/12.968240
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

This paper describes a 3-dimensional vision system that utilizes two views of a scene and textural information in determining distances to objects in a scene. The application of the system lies with determining distances to obstacles in mobile robot guidance. The analysis of a scene is performed in two stages. First, orientations of planar textured surfaces in a scene are estimated using textural information in a single image frame. This step determines the relative positions of obstacles located on textured surfaces. In the second step, exact positions of the obstacles are determined using two views of a scene.

Citation Download Citation

D. Brzakovic, N. Alvertos, and L. Hong "3-D Vision System For Obstacle Avoidance", Proc. SPIE 0852, Mobile Robots II, (1 January 1987); https://doi.org/10.1117/12.968240

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