Study in Stereovision Obstacle Avoidance for Adsorption Type Wall-Climbing Robot with Several Legs
Considering the work environment and characteristics of wall-climbing robot, a kind of real-time obstacle avoidance method based on stereovision is proposed. In order to improve veracity and speediness, the mathematical model of parallel binocular stereovision is built, and a homonymy point matching algorithm based on correlation of region and boundary is presented. The results indicate that this method has good characteristics of reducing data processed, improving celerity, which can realize of obstacle avoidance easily and reliably.
Wenya Tian and Linli Xu
G. Q. Huang et al., "Study in Stereovision Obstacle Avoidance for Adsorption Type Wall-Climbing Robot with Several Legs", Advanced Materials Research, Vol. 186, pp. 26-30, 2011