Real Time Algorithms for Obstacle Avoidance by Using Reprojection Transformation.

Abstract

The picture captured by a tilted camera fmed on the top ofa mobile robot can be mapped by a reprojection as if the camera u focing down. The reprojected picture has many interest ~operties. Based on the principle of reprojection transformation and the a ~ l y of ~ motion, b two realtime algorithms for detecting obstacles in front of the mobile robot are developed a d compared with each other. The algorithms have been implemented on PIPE Model 1 system and tested by real scene image sequences. 1.