Vision sensors integration based grid-method for robot real-time obstacle detection

摘要

Real-time obstacles detection of mobile robot in indoor environments based on the integrated system of stereo vi-sion and laser range finder is investigated.Disparity information is obtained from stereo vision system.Fast method for obsta-cles detection is used for stereo vision system by fitting ground plane directly from disparity information;an algorithm named RANSAC(Random Sample Consensus) is used to filter the noise points and it can make the detection robustly.Then occu-pancy grid map is obtained from obstacles information on ground plane based on 3D world model.Grid data is extracted and then is used to fuse the integrated information provided by stereo vision system and laser range finder.Experimental re-sults show that the integrated vision sensors of mobile robot not only obtain adequate obstacles information,but also ensure the real-time and accuracy performance.