By Topic

Using Panoramic Images and Optical Flow to Avoid Obstacles in Mobile Robot Navigation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Carlos M. Soria ; Instituto de Automatica, Universidad Nacional de San Juan, Av. San Martin, 1109 (Oeste) 5400 San Juan, Argentina. Email: ; Ricardo Carelli ; Mario Sarcinelli-Filho

This paper addresses the use of panoramic images to avoid obstacles in mobile robot indoor navigation. A catadioptric sensor installed onboard a mobile robot is used to acquire panoramic views covering 180 degrees of the horizon in front of the robot. The optical flow field corresponding to two of such views is calculated, which is used to guide the robot to reactively avoid obstacles. A strategy to define how much the current robot orientation should be changed and a controller to guarantee that such a change is accomplished are here proposed. Experimental results validating such a system are also presented. The main contribution of the proposed system is that the robot becomes able to avoid wide obstacles, which would be too much difficult using a camera with a narrow field of vision. An important aspect, regarding the narrow-field-of-vision case, is that the object becomes wider as the robot gets closer to it.

Published in:

2006 IEEE International Symposium on Industrial Electronics  (Volume:4 )

Date of Conference:

9-13 July 2006