Single-camera stereo vision for obstacle detection in mobile robots

William Lovegrove; Ben Brame

doi:10.1117/12.732651

10 September 2007 Single-camera stereo vision for obstacle detection in mobile robots

William Lovegrove, Ben Brame

Proceedings Volume 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision; 67640T (2007) https://doi.org/10.1117/12.732651
Event: Optics East, 2007, Boston, MA, United States

Abstract

Stereo vision is attractive for autonomous mobile robot navigation, but the cost and complexity of stereo camera systems and the computational requirements make full stereo vision impractical. A novel optical system allows the capture of a pair of short, wide stereo images from a single camera, which are then processed to detect vertical edges and infer obstacle positions and locations within the planar field of view, providing real-time obstacle detection. Our optical system involves a pair of right-angle prisms stacked vertically, splitting the camera field of view vertically in half. Right angle mirrors on either side redirect the image forward but at a horizontally displaced location, creating two virtual cameras. Tilting these mirrors provides an overlapping image area. Alternately, tilting the prisms produces the same effect. This image area is wide but not very tall. However, in a mobile robot scenario the majority of obstacles of interest intersect this field of view.

Citation Download Citation

William Lovegrove and Ben Brame "Single-camera stereo vision for obstacle detection in mobile robots", Proc. SPIE 6764, Intelligent Robots and Computer Vision XXV: Algorithms, Techniques, and Active Vision, 67640T (10 September 2007); https://doi.org/10.1117/12.732651

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