Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System

Xing Zhe Xie; Heng Wang; Qian You Luo

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

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 48-49Obstacle Detection for Patrol Robot Using...

Obstacle Detection for Patrol Robot Using Bumblebee2 Stereo Vision System

Abstract:

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.

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Periodical:

Applied Mechanics and Materials (Volumes 48-49)

Pages:

749-752

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.48-49.749

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Online since:

February 2011

Authors:

Xing Zhe Xie, Heng Wang, Qian You Luo

Keywords:

Connected Component Analysis, Occupancy Grid Map, Patrol Robot, RANSAC Algorithm

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