A study on the method of obstacle detection on the floor using stereo vision for mobile robot

이동 로보트에 있어서 스테레오 시각에 의한 바닥상의 장애물 감시방법에 관한 연구

In order to navigate, mobile robot needs to avoid obstacles on his way. We describe a stereo vision method for detecting obstacles on the floor ground. With the knowledge of floor geometry, stereo images are transformed so that the relative views of obstacle to the floor are seen. After comparing the transformed images, obstacles information such as location and size are extracted and determined from the local disparities. Some experimental results are shown.