Obstacle Detection and Object Size Measurement for Autonomous Mobile Robot using Sensor

摘要

Different types of sensors are often fused to acquire information which cannot be acquired by a single sensor. Sensor fusion is particularly applicable for mobile robots for object detection and navigation. The techniques that have been developed so far for detecting an obstacle are costly. Hence, a new technique is proposed which can detect an obstacle, judge its distance and measure the size of the obstacle using one camera and one ultrasonic sensor. The technique is cheap in terms of sensor cost and in terms of computational cost. General Terms Robotics, robot navigation.