Robot vision system for obstacle avoidance planning

Giovanni Attolico; Laura Caponetti; Maria Teresa Chiaradia; Arcangelo Distante

doi:10.1117/12.48085

1 March 1991 Robot vision system for obstacle avoidance planning

Giovanni Attolico, Laura Caponetti, Maria Teresa Chiaradia, Arcangelo Distante

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.48085
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

The obstacles are treated as stationary obstacles providing the input to a path planning algorithm. It is assumed that the vehicle is equipped with a TV camera which scans the navigational space and provides information about the obstacles. The sensing system samples the observation space at predetermined time intervals. Due to the relative motion of the camera system with respect to the environment a''two-dimensional image flow is created on the image plane. The appareance of an obstacle can be recovered by means an optical flow analysis of the regions corresponding to surfaces having different depths.

Citation Download Citation

Giovanni Attolico, Laura Caponetti, Maria Teresa Chiaradia, and Arcangelo Distante "Robot vision system for obstacle avoidance planning", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.48085

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