Machine vision system for real-time obstacle detection

Genevieve Chabassier; Jean-Paul Gaffard; J. C. Lassau

doi:10.1117/12.58825

1 March 1992 Machine vision system for real-time obstacle detection

Genevieve Chabassier, Jean-Paul Gaffard, J. C. Lassau

Author Affiliations +

Proceedings Volume 1615, Machine Vision Architectures, Integration, and Applications; (1992) https://doi.org/10.1117/12.58825
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Over the past two years, laserdot has developed a new machine vision system for obstacle detection by mobile robots. A pulsed laser illuminates the road in a zone from 100 to 150 meters in front of the vehicle and the backscatter is analyzed by a linear array of photodetectors connected to a computer. Each obstacle is detected and its position is determined. The distance is calculated by measuring the pulse time-of-flight, producing a complete three-dimensional image without scanning. The system was jeep-mounted for testing in a military environment at the Angers Technical Center (ETAS) in France. This article describes the laserdot vision system and its design features, as well as the test results from ETAS. The system is capable of providing information on the shape of the road in front of the vehicle, including slope and banking measurements. Lastly, the future integration of the detector in a mobile robot is detailed. These works have been supported by Direction des Recherches, Etudes et Techniques (DRET).

Citation Download Citation

Genevieve Chabassier, Jean-Paul Gaffard, and J. C. Lassau "Machine vision system for real-time obstacle detection", Proc. SPIE 1615, Machine Vision Architectures, Integration, and Applications, (1 March 1992); doi: 10.1117/12.58825; https://doi.org/10.1117/12.58825

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