标题：The obstacle avoidance system for mobile robot based on binocular stereo vision
作者：Zhao, Yongguo ;Hou, Xianlun ;Jia, Lei ;Ma, Sile
作者机构：[Zhao, Yongguo ;Hou, Xianlun ] Institute of Automation, Shandong Academy of Science, Jinan, Shandong, China;[Jia, Lei ;Ma, Sile ] School of Control Sc 更多
会议名称：2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
会议日期：7 July 2010 through 9 July 2010
来源：Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
关键词：Mobile robot; Obstacle avoidance; Stereo vision
摘要：Response to the demand of autonomous obstacle avoidance for mobile robot during operation, a obstacle avoidance system based on binocular stereo vision for mobile robot is developed. The system was developed with Matlab and stereo vision software "the Point Grey's Triclops SDK library". With the techniques of camera calibration, stereo image matching, three-dimensional reconstruction, the three-dimensional coordinates of obstacles was calculated, so the accurate positioning of obstacles can be obtained. The mobile robot can avoid obstacles autonomously based on binocular stereo vision. Experimental results show that the mobile robot equipped with the system can complete the tasks of obstacle avoidance and get a good effect. © 2010 IEEE.