Obstacle detection in range-image sequence for outdoor navigation

M. Garduno; Bertrand Vachon

doi:10.1117/12.182890

17 August 1994 Obstacle detection in range-image sequence for outdoor navigation

M. Garduno, Bertrand Vachon

Proceedings Volume 2357, ISPRS Commission III Symposium: Spatial Information from Digital Photogrammetry and Computer Vision; (1994) https://doi.org/10.1117/12.182890
Event: Spatial Information from Digital Photogrammetry and Computer Vision: ISPRS Commission III Symposium, 1994, Munich, Germany

Abstract

We deal with the conception of a perception system that's goal is to assist a mobile robot teleoperator by providing pertinent information about eventual obstacles appearing in the robot work space. This range image based perception system is to be embedded on a vehicle able to move at speeds up to 40 km/h in an outdoor environment. A method taking speed constraints into account is proposed. In the first step of this method, a segmentation algorithm is applied to the first range image scanned by the motionless robot to determine areas of interest. From these areas, distinctive attributes are computed and recorded as symbolic representations of each obstacle region. In the second and following steps, obstacles are localized in images scanned during robot motion. The difference between actual object position in the range image and its predicted value is used by an extended Kalman filter to correct the estimated robot configuration. A dynamic image segmentation using emergency and security criteria is carried out and new obstacles can now be detected from the range image and expressed in the robot coordinates system.

Citation Download Citation

M. Garduno and Bertrand Vachon "Obstacle detection in range-image sequence for outdoor navigation", Proc. SPIE 2357, ISPRS Commission III Symposium: Spatial Information from Digital Photogrammetry and Computer Vision, (17 August 1994); https://doi.org/10.1117/12.182890

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KEYWORDS

Image processing

Image segmentation

Image analysis

Sensors

Filtering (signal processing)

Motion estimation

Image sensors

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