NDLI: An embedded feature-based stereo vision system for autonomous mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Ben-Tzvi, P. Xin Xu
Copyright Year	2010
Description	Author affiliation: Robotics and Mechatronics Lab, Department of Mechanical and Aerospace Engineering, George Washington University, Washington, DC 20052 (Ben-Tzvi, P.; Xin Xu)
Abstract	Stereo vision systems have recently become an essential part for most autonomous mobile robots. There are several commercially available stereo vision products, which have been used for autonomous functions in mobile robot platforms. However, most of them are not suitable for compact sized robots. This paper presents an embedded stereo vision system that provides flexible baseline for robots of compact size. In terms of hardware, it provides baseline flexibility, and can be easily fitted into any robot. In terms of software, a feature based stereo vision algorithm is proposed to improve the real-time performance of the stereo vision system. The proposed featured-based method is evaluated by comparing it with the area-based method using standard test images. The results show that the computational time is significantly reduced (reduced by 60% in a relatively complex image). The proposed method is also implemented in real world environments in order to test its effectiveness.
Starting Page	1
Ending Page	6
File Size	2165442
Page Count	6
File Format	PDF
ISBN	9781424471478
e-ISBN	9781424471485
DOI	10.1109/ROSE.2010.5675303
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stereo vision Feature extraction Cameras Calibration Robot vision systems Algorithm design and analysis feature extraction embedded stereo vision system correspondence
Content Type	Text
Resource Type	Article

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