Real Time Algorithms for Obstacle Avoidance by Using Reprojection Transformation
نویسندگان
چکیده
The picture captured by a tilted camera fmed on the top o f a mobile robot can be mapped by a reprojection as i f the camera u focing down. The reprojected picture has many interest ~ o p e r t i e s . Based on the principle o f reprojection transformation and the a ~ l y ~ b of motion, two realtime algorithms for detecting obstacles in front o f the mobile robot are developed a d compared with each other. The algorithms have been implemented on PIPE Model 1 system and tested by real scene image sequences.
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تاریخ انتشار 1990