Evidence grids with omnidirectional stereovision for mobile robots. / Grades de evidência com visão estéreo omnidirecional para robôs móveis.

AUTOR(ES)
DATA DE PUBLICAÇÃO

2004

RESUMO

Autonomous mobile robots depend on information acquired with its sensors to make decisions during its task. The use of vision systems provide a large amount of data about the environment in which the robot is. Particularly, an omnidirectional vision systems provide information in all directions of the environment to the robot with just one image. Through the processing of a pair of omnidirectional images it is possible to obtain the distances between the robot and the objects in its work environment. Because of the uncertainty of all sensors, a probabilistic model is necessary so that the information acquired could be used in decision make processes. Having just an omnidirectional stereovision system as a source of information to an stochastic representation of the environment, known as Evidence Grids, the robot can determine the probability of occupation of the space in the environment and navigate autonomously. This article shows a stereo algorithm and a model of the omnidirectional stereovision system to update the Evidence Grid. This is the beginning of a work that have as objective make navigation and exploration of unknown and unstructured environment having as knowledge base a probabilistic model as Evidence Grids.

ASSUNTO(S)

occupancy grids mobile robots visão estéreo omnidirectional vision visão omnidirecional robôs móveis grades de ocupação stereovision

ACESSO AO ARTIGO

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