Stereo camera-based intelligent UGV system for path planning and navigation

Jung-Suk Lee; Jung-Hwan Ko; Dal-Do Chungb

doi:10.1117/12.678788

24 August 2006 Stereo camera-based intelligent UGV system for path planning and navigation

Jung-Suk Lee, Jung-Hwan Ko, Dal-Do Chungb

Proceedings Volume 6312, Applications of Digital Image Processing XXIX; 63121J (2006) https://doi.org/10.1117/12.678788
Event: SPIE Optics + Photonics, 2006, San Diego, California, United States

Abstract

In this paper, a new real-time and intelligent mobile robot system for path planning and navigation using stereo camera embedded on the pan/tilt system is proposed. In the proposed system, face area of a moving person is detected from a sequence of the stereo image pairs by using the YCbCr color model and using the disparity map obtained from the left and right images captured by the pan/tilt-controlled stereo camera system and depth information can be detected. And then, the distance between the mobile robot system and the face of the moving person can be calculated from the detected depth information. Accordingly, based-on the analysis of these data, three-dimensional objects can be detected. Finally, by using these detected data, 2-D spatial map for a visually guided robot that can plan paths, navigate surrounding objects and explore an indoor environment is constructed. From some experiments on target tracking with 480 frames of the sequential stereo images, it is analyzed that error ratio between the calculated and measured values of the relative position is found to be very low value of 1.4 % on average. Also, the proposed target tracking system has achieved a high speed of 0.04 sec/frame for target detection and 0.06 sec/frame for target tracking.

Citation Download Citation

Jung-Suk Lee, Jung-Hwan Ko, and Dal-Do Chungb "Stereo camera-based intelligent UGV system for path planning and navigation", Proc. SPIE 6312, Applications of Digital Image Processing XXIX, 63121J (24 August 2006); https://doi.org/10.1117/12.678788

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available