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Title:
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IMPLEMENTATION OF 2D OCCUPANCY MAP FOR EFFECTIVE PATH PLANNING OF AN MOBILE ROBOT |
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Author(s):
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Jung-hwan Ko , Jung-suk Lee |
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ISBN:
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978-972-8924-60-7 |
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Editors:
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António Palma dos Reis |
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Year:
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2008 |
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Edition:
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Single |
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Keywords:
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Robot vision, Occupancy map, Stereo camera, Path planning, Disparity estimation, Target detection. |
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Type:
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Poster/Demonstration |
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First Page:
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228 |
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Last Page:
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230 |
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Language:
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English |
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Cover:
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Full Contents:
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click to dowload 
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Paper Abstract:
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This paper proposes a method for an effective intelligent path planning for mobile robots using a 2D occupancy map of a
stereo camera system. In this method, information about depth and disparity map is detected in the inputting images of a
parallel stereo camera. The distance between the mobile robots and the obstacle is detected, and a 2D occupancy map is
obtained from the location coordinates. Then the relative distances between the obstacle and other objects are deduced.
The robot moves automatically by effective and intelligent path planning using the obtained 2D occupancy 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. |
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