The Obstacle Avoidance and Navigation Based on Stereo Vision for Mobile Robot

摘要

In this paper, an overview of stereo vision, stereo image processing is introduced as well as a method of obstacle avoidance and navigation based on stereo vision for mobile robot is provided. Making use of 3-d stereo reconstruction, the recognition of visible terrain in front of the mobile robot is solved for successive obstacle avoidance. The area-based stereo reconstruction algorithm which combines the pyramidal data structure and dynamic programming technique has been used for the recognition of the local environment. The vision system can thus be used to identify, locate and approach mechanical objects autonomously.