Real time obstacle detection system for biped robot

摘要

A real time obstacle detection system that uses a stereo pair of cameras but needs no 3D reconstruction of the surroundings is presented. At first, the projective transformation matrix between the image plane and the ground plane on that the biped robot walks is established. Next, planar projection stereopsis method is used to decide whether or not each point in a stereo image exists on a ground plane. In order to decrease the effects on the projective transformation matrix caused by the variety of outer or inter system parameters, an on-line adjusting module is adopted. After extraction the edge map of obstacles, a free-space map can be created by simple recovery to 3D information of obstacles. The system is simple and robust enough to make the robot avoid obstacles in time.