Vision based terrain reconstruction for planet rover using a special binocular bundle adjustment

Shen, Minyi; Xiang, Zhiyu; Liu, Jilin

doi:10.1631/jzus.a0720057

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“…The algorithms mentioned have their advantages, but most of them use the normal binocular cameras [6,7]as visual sensor to extract the information of the target obstacles. However, the calculation of localization based on binocular camera is too complex to meet the real time.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Obstacle Avoidance Algorithm for the Mobile Robot Based on Depth Image of Kinect Sensor

Zhang

Tong

Luo

2014

AMM

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In order to solve the problem of the dynamic obstacle avoidance of the mobile robot in indoor environment, a new approach based on depth information is presented in this paper. The depth information of surrounding environment was collected and used to set the robots obstacle avoidance warning area by a Kinect sensor. When the moving obstacle accessed into the warning area, the robots obstacle avoidance direction was determined preliminary by the obstacles position, and then an improved Kalman filter algorithm was used to optimize the avoidance path. Experiments show that this approach can overcome the potential problem of path selection, and realize the mobile robot obstacle avoidance behavior in the dynamic environment.

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Section: Introductionmentioning

confidence: 99%