Investigation of robotic mapping and obstacle avoidance using stereo vision

dc.contributor.author	Kong, Teck Seng
dc.date.accessioned	2021-03-01T02:18:04Z
dc.date.available	2021-03-01T02:18:04Z
dc.date.issued	2019-06
dc.description.abstract	Robotic Mapping is the generation of map for an unknown environment with no priori map. This can be done by analyzing the information of surrounding such as distance from obstacles. The map generated is useful for path planning in disaster relief and area with hazardous toward human. In this project, stereo vision system is being investigated for the performance on distance measurement for Robotic Mapping and Obstacle Avoidance. Two Universal Serial Bus cameras are being calibrated for stereo vision. Left and Right image pair is acquired and being processed to obtain disparity map. Then, vdisparity and u-disparity map are generated for road extraction and background extraction. The developed system able to measure the obstacles within 3m with error less than 3%. This system is implemented on wheeled robot for autonomous navigation through obstacle avoidance. The robot able to pass through the simple test field with two obstacles. The range information of stereo vision system is used to generate a 2 dimensional occupancy grid map for the test field.	en_US
dc.identifier.uri	http://hdl.handle.net/123456789/11594
dc.language.iso	en	en_US
dc.title	Investigation of robotic mapping and obstacle avoidance using stereo vision	en_US
dc.type	Other	en_US

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