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404 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 14, NO. 3, JUNE 1998 Moving Obstacle Detection From
 

Summary: 404 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 14, NO. 3, JUNE 1998
Moving Obstacle Detection From
a Navigating Robot
Dinesh Nair, Member, IEEE, and Jagdishkumar K. Aggarwal, Fellow, IEEE
Abstract--This paper presents a system that detects unexpected
moving obstacles that appear in the path of a navigating robot,
and estimates the relative motion of the object with respect
to the robot. The system is designed for a robot navigating
in a structured environment with a single wide-angle camera.
The objective of the system is to detect moving obstacles in
order to gradually stop the robot to avoid collision; maneuvering
around the obstacle is not considered here. The system has been
assembled using pieces of existing vision techniques with a strong
emphasis on real-world applications and very fast processing with
conventional hardware. The system uses polar mapping to sim-
plify the segmentation of the moving object from the background.
The polar mapping is performed with the focus of expansion
(FOE) as the center. A vision-based algorithm that uses the van-
ishing points of segments extracted from a scene in a few three-
dimensional (3-D) orientations provides an accurate estimate of

  

Source: Aggarwal, J. K. - Department of Electrical and Computer Engineering, University of Texas at Austin

 

Collections: Computer Technologies and Information Sciences; Engineering