Abstract
Image processing plays an important role in the visual navigation of a mobile robot. A real-time visual tracking system, using an active stereo vision head mounted on a mobile robot, is described in this paper to demonstrate the real-time implementation of a classic stereo method, featuring algorithm simplification for a real application. Disparity information is used directly to guide visual tracking by integrating tracking tightly to its final purpose, to provide control signals for obstacle avoidance by the mobile robot. Using an approach proposed here, the stereo correspondence algorithm can be applied to compute disparity information in real time from stereo images captured from active stereo system with two cameras verging dynamically.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
P.A. Beardsley, A. P. Zisserman, and D.W. Murray. Navigation using affine structure and motion. In Proceedings of 3rd European Conference on Computer Vision, pages 85–96, 1994.
A. Blake, J.M. Brady, R. Cipolla, Z. Xie, and A. Zisserman. Visual navigation around curved objects. In Proc. IEEE International Conference on Robotics and Automation, pages 2490–2495, 1991.
R. H. S. Carpenter. Movements of the Eyes. Pion, London, 1988.
R. Cipolla and A. Blake. Surface orientation and time to contact from deformation of apparent contours. In Proc. European Conf. Computer Vision 1992, pages 187–202, 1992.
F. Du and J.M. Brady. An active computer vision system for vehicle navigation. International Journal of Pattern Recognition and Artificial Intelligence,1994.
C.A.R. Hoare. Communication Sequential Process. Prentice Hall, London, England, 1985.
H. Hu, J.M. Brady, F. Du, and P.J. Probert. A transputer network for real-time control of an intelligent mobile robot. In IEEE Int. Conf. on Control Applications, pages 1049–1054, 1994.
H. Hu, M. Brady, J. Grothusen, F. Li, and P. Probert. Licas: A modular architecture for intelligent control of mobile robots. In Procceding of IROS’95 International Conference on Intelligent Robots and Systems, 1995.
H. Hu and Michael Brady. A parallel processing architecture for sensor-based control of intelli-gent mobile robots. Int. Journal of Robotics and Autonomous Systems, 1995.
F. Li, J.M. Brady, and C. Wiles. Calibrating the camera intrinsic parameters for epipolar geometry computation. Technical report, OUEL 2075 /1995, 1995.
D. Marr. Vision. W. H. Freeman, 1985.
J. Merron. Alternative depth representation for road-based vision. PROMETHEUS report 5, Department of Engineering Science, Oxford University, 1994.
D.W. Murray, F. Du, P.F. McLauchlan, I.D. Reid, P.M. Sharkey, and M. Brady. Design of stereo heads. In A. Blake and A. Yuille, editors, Active Vision, pages 155–172. MIT, 1992.
K. Pahlavan and J. O. Eklundh. A head-eye system for active, purposive computer vision. TRITA-NA-P9031, CVAP 80, Royal Institute of Technology, Stockholm, Sweden, 1990.
Stephen B Pollard, John E W Mayhew, and John P Frisby. Implementation details of the pmf stereo algorithm. In John E W Mayhew and John P Frisby, editors, 3D Model Recognition From Stereoscopic Cues, pages 33–39. MIT, 1991.
Stephen B Pollard, John Porrill, John E W Mayhew, and John P Frisby. Disparity gradient, lipschitz continuity, and computing binouclar correspondences. In John E W Mayhew and John P Frisby, editors, 3D Model Recognition From Stereoscopic Cues, pages 25–32. MIT, 1991.
L.S. Shapiro, A. Zisserman, and J.M. Brady. Motion from point matches using affine epipolar geometry. In Proc. 3rd European Conference on Computer Vision, volume II, pages 73–84, May 1994.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1996 Springer-Verlag London Limited
About this paper
Cite this paper
Li, F., Brady, M., Hu, H. (1996). Visual Guidance of an AGV. In: Giralt, G., Hirzinger, G. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-1021-7_44
Download citation
DOI: https://doi.org/10.1007/978-1-4471-1021-7_44
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1257-0
Online ISBN: 978-1-4471-1021-7
eBook Packages: Springer Book Archive