[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.5207/JIEIE.2006.20.9.045

Effective Route Decision of an Automatic Moving Robot(AMR) using a 2D Spatial Map of the Stereo Camera System

Lee, Jae-Soo (Kimpo College)
Han, Kwang-Sik (E-business at Kimpo College)
Ko, Jung-Hwan (Incosis company)

Publication Information

Journal of the Korean Institute of Illuminating and Electrical Installation Engineers / v.20, no.9, 2006 , pp. 45-53 More about this Journal

Abstract

This paper proposes a method for an effective intelligent route decision for automatic moving robots(AMR) using a 2D spatial map of a stereo camera system. In this method, information about depth and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle is detected, and a 2D spatial map is obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced. The robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From experiments on robot driving with 240 frames of stereo images, it was found that the error ratio of the calculated distance to the measured distance between objects was very low, 1.52[%] on average.

Keywords

AMR(Automatic Moving Robot); Stereo Camera System; Disparity Map; Effective Route Decision; 2D Spatial Map;

Citations & Related Records

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