Motion-Based Stereovision Method with Potential Utility in Robot Navigation

Abstract

Abstract. Autonomous robot guidance in dynamic environments requires, on the one hand, the study of relative motion of the objects of the environment with respect to the robot, and on the other hand, the analysis of the depth towards those objects. In this paper, a stereo vision method, which combines both topics with potential utility in robot navigation, is proposed. The goal of the stereo vision model is to calculate depth of surrounding objects by measuring the disparity between the two-dimensional imaged positions of the object points in a stereo pair of images. The simulated robot guidance algorithm proposed starts from the motion analysis that occurs in the scene and then establishes correspondences and analyzes the depth of the objects. Once these steps have been performed, the next step is to induce the robot to take the direction where objects are more distant in order to avoid obstacles.

On the identification and establishment of topological spatial relations by autonomous systems

“…The use of a virtual environment allows the testing of heuristics avoiding the problems inherent to computer vision when detecting objects (e.g. López-Valles et al, 2005;Schlieder, 1993).…”

Revisiting Algorithmic Lateral Inhibition and Accumulative Computation

“…To date the first results applied to the potential usefulness in mobile robotics have also been introduced [21]. Finally, the LI model at the knowledge level, the so-called ALI [26], seems to be a promising method to solve problems of cooperation and dialogue in the theory of multi-agent systems.…”