Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System

Abstract:

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This paper employs Bumblebee2 stereo vision system to detect the obstacles for patrol robot in substation environment. Firstly, with the selected points in the disparity image, the ground plane is calculated by the RANSAC (Random Sample Consensus) algorithm. And then, the local occupancy grid map is built for patrol robot, and the obstacles are detected through connected component analysis method. The actual test in substation environment verified the reliability of the system.

Info:

Periodical:

Edited by:

Zhixiang Hou

Pages:

749-752

DOI:

10.4028/www.scientific.net/AMM.48-49.749

Citation:

X. Z. Xie et al., "Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System", Applied Mechanics and Materials, Vols. 48-49, pp. 749-752, 2011

Online since:

February 2011

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Price:

$35.00

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