Motion stereo for mobile robots

摘要

A method allowing a mobile robot to measure accurately its distance from external objects is introduced. It requires only a single uncalibrated camera and a dynamic vision system. The method was evaluated in an optical laboratory and also in outdoor experiments. Even in outdoor-experiments with a vehicle moving at a speed of 30 km/h, errors of less than 1% of the true distance were achieved in real time.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>