Real-time obstacle detection via subsequent 2D images

Bin Dai; Jianping Liu; Wensen Chang

doi:10.1117/12.212751

30 June 1995 Real-time obstacle detection via subsequent 2D images

Bin Dai, Jianping Liu, Wensen Chang

Proceedings Volume 2463, Synthetic Vision for Vehicle Guidance and Control; (1995) https://doi.org/10.1117/12.212751
Event: SPIE's 1995 Symposium on OE/Aerospace Sensing and Dual Use Photonics, 1995, Orlando, FL, United States

Abstract

Obstacle detection is one of the most important work during the driving of autonomous land vehicles (ALV). It is the pre-requisite to drive ALV safely and precisely. A new method for obstacle detection which using the area parameters of certain obstacle (in 2D images) is introduced here. Taking use of the explicit determination of the velocities, with which area parameters of the obstacle change in subsequent images, this approach can get the depth of the obstacle quickly. In order to make the results more accurate, the Kalman filter has been used. The advantage of our method is practical and simple (no camera calibration needed), especially when it is applied on those mobile robots without high speed parallel computer systems. Together with a very simple manner that can recognize the landmarks beside the road, our detection measure can help ALV avoid obstacles and even can drive the vehicle according to the meaning of the certain landmark. This is useful for ALV running in complex environment. The approach introduced in this paper has been applied on the Labmate robots (equipped with a single CCD camera) produced by Transition Research Cooperation, Experiments' results indicate that our Labmate vehicle performed successfully in obstacle avoidance and topological map tracking.

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Bin Dai, Jianping Liu, and Wensen Chang "Real-time obstacle detection via subsequent 2D images", Proc. SPIE 2463, Synthetic Vision for Vehicle Guidance and Control, (30 June 1995); https://doi.org/10.1117/12.212751

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KEYWORDS

Cameras

Imaging systems

Navigation systems

Filtering (signal processing)

Calibration

Roads

CCD cameras

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