Abstract:
In this paper, we propose a pseudo-binocular stereo vision and linear fitting to achieve robot navigation. Pseudo-binocular stereo vision is realized by moving the robot ...Show MoreMetadata
Abstract:
In this paper, we propose a pseudo-binocular stereo vision and linear fitting to achieve robot navigation. Pseudo-binocular stereo vision is realized by moving the robot body to the left or right with a certain distance. Then, a disparity map is calculated with the semi-global matching algorithm. This method can overcome the interference of complex color and texture for objects that are at the same distance. After edge detection and binarizing of the disparity map, road lines are extracted by the Hough transform algorithm. To extract the road lines from the noisy edges, the least square method for linear fitting is utilized for high-accuracy navigation.
Published in: 2020 IEEE International Conference on Integrated Circuits, Technologies and Applications (ICTA)
Date of Conference: 23-25 November 2020
Date Added to IEEE Xplore: 01 February 2021
ISBN Information:
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Navigation ,
- Roads ,
- Fitting ,
- Transforms ,
- Feature extraction ,
- Stereo vision ,
- Robots
- Index Terms
- Linear Regression ,
- Stereopsis ,
- Robot Navigation ,
- Least-squares ,
- Edge Detection ,
- Hough Transform ,
- Complex Texture ,
- Disparity Map ,
- Straight Line ,
- Partial Differential ,
- Focal Length ,
- Angle Difference ,
- Image Sensor ,
- Polar Coordinates ,
- Residual Sum Of Squares ,
- Slope Range ,
- Cost Aggregation
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Navigation ,
- Roads ,
- Fitting ,
- Transforms ,
- Feature extraction ,
- Stereo vision ,
- Robots
- Index Terms
- Linear Regression ,
- Stereopsis ,
- Robot Navigation ,
- Least-squares ,
- Edge Detection ,
- Hough Transform ,
- Complex Texture ,
- Disparity Map ,
- Straight Line ,
- Partial Differential ,
- Focal Length ,
- Angle Difference ,
- Image Sensor ,
- Polar Coordinates ,
- Residual Sum Of Squares ,
- Slope Range ,
- Cost Aggregation
- Author Keywords