Evaluation of an obstacle detection technique based on stereovision

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Abstract
Obstacle detection and avoidance is an important issue for autonomous robots that work in a dynamic environment. In order to solve such a problem, we propose a method based on passive stereo-vision. Our implementation is a fast algorithm that achieves directly a rough estimation of the 3D position of obstacles by avoiding the stereo correspondence problems. This obstacle detection method has been experienced and working in various types of environments: from 2 m to 6 m in an indoor environment and from 5 m to 100 m in an outdoor environment.
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