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Visual navigation around curved obstacles

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5 Author(s)
Blake, A. ; Dept. of Eng. Sci., Oxford Univ., UK ; Brady, M. ; Cipolla, R. ; Xie, Z.
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An approach to path-planning around smooth obstacles that exploits visually derived geometry is proposed. A moving robot can scan the silhouette or apparent contour of an obstacle and estimate a minimum length path. This is done by seeking geodesics which can be extrapolated smoothly, around the obstacle and towards the goal. Preliminary implementation of this idea uses a real-time visual contour tracker running at 16 Hz, with a camera mounted on an Adept robot arm. The camera first dithers to generate visual motion, a safe path is estimated, and the robot steers the camera around the obstacle with a clearance of a few millimeters

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991