Binocular Visual Navigation and Obstacle Avoidance of Mobile Robots Based on Speeded-Up Robust Features

作     者：WANG Meng-di HAN Bao-ling LUO Qing-sheng 

作者机构：School of OptoelectronicsBeijing Institute of Technology School of Mechatronical EngineeringBeijing Institute of Technology 

出 版 物：《Computer Aided Drafting,Design and Manufacturing》 (计算机辅助绘图设计与制造（英文版）)

年 卷 期：2013年第23卷第4期

页      码：18-24页

摘      要：This article presents a good robust and real-time system scheme of the mobile robot obstacle detection and navigation, which principle of work is based on the feature descriptor SURF. In this scheme, firstly, the image information of the mobile robot path was captured by the binocular camera; then the feature points were extracted and corresponding matched using SURF to the binocular images as the undetected obstacles; finally fixed the position of the objective by the parallax between the matching points combining with the binocular vision calibration model. Theoretical derivation and experimental results show that this scheme is more accurate for the detection and navigation of the interest points. It has fast matching speed and high accuracy and low error. So, it has certain practical effect and popularizing value for the mobile robot real-time obstacle avoidance and navigation.

主 题 词：speeded up robust features binocular vision robot navigation obstacle detection 

学科分类：080202[080202] 08[工学] 080203[080203] 0804[工学-材料学] 0802[工学-机械学] 

D　O　I：10.19583/j.1003-4951.2013.04.004

馆 藏 号：203145772...