This paper discusses a method of using disparity maps, generated from a stereo matching process, to be used for obstacle detection. The disparity map is a direct indicator of the distances the various objects have with respect to the cameras. This information can be further segmented to highlight the obstacle regions. Once the obstacle regions are highlighted, this information can be used for a path planning algorithm to generate the required control signals to direct the robot from a source position to destination position while avoiding the detected obstacles.
Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation
01.06.2019
2284233 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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