This paper presents a stereo vision-based autonomous navigation system using a GPS and a modified version of the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work the use of a semi-global stereo method. By not suffering the same issues of the regulary used local stereo methods, the employed stereo technique enables the generation of a highly dense, efficient, and accurate disparity map. Obstacles are detected using a method that checks for relative slopes and heights differences. Experimental tests using an electric vehicle in an urban environment were performed to validate the proposed approach.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Stereo-Based Autonomous Navigation and Obstacle Avoidance


    Beteiligte:


    Erscheinungsdatum :

    2013


    Format / Umfang :

    6 Seiten, 11 Bilder, 1 Tabelle, 11 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Stereo Based 3D Perception for Obstacle Avoidance in Autonomous Wheelchair Navigation

    Gomes, Bruno / Torres, José / Sobral, Pedro et al. | Springer Verlag | 2022


    Autonomous Navigation and Obstacle Avoidance

    Berger, Jesse / Carson, Cory / Towhidnejad, Massood et al. | AIAA | 2009


    High‐speed autonomous obstacle avoidance with pushbroom stereo

    Barry, Andrew J. / Florence, Peter R. / Tedrake, Russ | British Library Online Contents | 2018


    High-speed autonomous obstacle avoidance with pushbroom stereo

    Barry, Andrew J. (Andrew James) | DSpace@MIT | 2016

    Freier Zugriff

    Autonomous Visual Navigation and Laser-Based Moving Obstacle Avoidance

    Cherubini, Andrea / Spindler, Fabien / Chaumette, Francois | IEEE | 2014