This paper presents a sonar vision algorithm applied to omnidirectional vision. It provides autonomous navigation for a mobile robot in an unknown environment. It uses omnidirectional images without any prior calibration and detects static and dynamic obstacles. It estimates the most intended path based on visual sonar beams in front of the robot. The proposed method was tested on a mobile robot in indoor environment. The experimental results show acceptable performance considering computation costs.


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    Title :

    Mobile robot navigation using sonar vision algorithm applied to omnidirectional vision




    Publication date :

    2015-04-12


    Size :

    328423 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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