publication . Preprint . 2017

Obstacle Avoidance Using Stereo Camera

Haque, Akkas Uddin; Nejadpak, Ashkan;
Open Access English
  • Published: 11 May 2017
Abstract
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which responds faster to unexpected obstacles. In this approach the depth map is divided into optimized number of regions and the minimum depth at each section is assigned as the depth of that region. A fuzzy controller is designed to create the drive commands for the robot/quadcopter. The system was tested on multiple paths with different obstacles and the results demonstrated the high accuracy of the developed system.
Subjects
free text keywords: Computer Science - Computer Vision and Pattern Recognition
Download from

[2] ultrasonic sensing." IEEE Transactions on Robotics and Automation 14.6 (1998): 969-978.

Sadolikar, M. R., & Bhaskar, P. P. (2014). Obstacle Detection and Avoidance using Stereo Vision System with Region of Interest (ROI) on FPGA. International Journal of Engineering Research & Technology (IJERT).

Sabe, K. (2004). Obstacle Avoidance and Path Planning for Humanoid Robots using Stereo Vision. IEEE International Conference on Robotics and Automation. [OpenAIRE]

Quadcopter see and avoid using a fuzzy controller. InProceedings of the 10th International FLINS Conference on Uncertainty Modeling in Knowledge Engineering and Decision Making (FLINS 2012) 2012.

Nvidia CUDA Home Page Zhang, Z. (2000). A flexible new technique for camera calibration. IEEE Transactions on pattern analysis and machine intelligence, 22(11), 1330- 1334.

Wolkenhauer, Olaf. Data engineering: fuzzy mathematics in systems theory and data analysis. John Wiley & Sons, 2004.

A Review of Probabilistic, Fuzzy, and Neural Models for Pattern Recognition" by James C. Bezdek in the Journal of Intelligent and Fuzzy Systems, vol.1 (1), pgs. 1-25, 1993.

Powered by OpenAIRE Open Research Graph
Any information missing or wrong?Report an Issue