Multi-Range Approach of Stereo Vision for Mobile Robot Navigation in Uncertain Environments
作者： Kwang Ho Park , Hyung O Kim , Moon Yeol Baek , Chang-Doo Kee
DOI: 10.1007/BF02982320
关键词: Computer vision 、 Evolutionary algorithm 、 Representation (mathematics) 、 Camera resectioning 、 Mobile robot 、 Occupancy grid mapping 、 Artificial intelligence 、 Computer science 、 Computer stereo vision 、 Mobile robot navigation 、 Stereopsis
摘要: The detection of free spaces between obstacles in a scene is prerequisite for navigation mobile robot. Especially stereo vision-based navigation, the problem correspondence two images well known to be crucial importance. This paper describes multi-range approach area-based matching grid mapping and visual uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm successful matching. To obtain reliable disparity information from both images, decomposed into three pairs with different resolution based on measurement disparities. advantage that we can get more each defined range because disparities high image used farther object while low close objects. map combined through post-processing rejecting incorrect map. real distance converted an occupancy representation We have investigated possibility various experiments.
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