Visual navigation around curved obstacles
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2490-2495
- https://doi.org/10.1109/robot.1991.131999
Abstract
An approach to path-planning around smooth obstacles that exploits visually derived geometry is proposed. A moving robot can scan the silhouette or apparent contour of an obstacle and estimate a minimum length path. This is done by seeking geodesics which can be extrapolated smoothly, around the obstacle and towards the goal. Preliminary implementation of this idea uses a real-time visual contour tracker running at 16 Hz, with a camera mounted on an Adept robot arm. The camera first dithers to generate visual motion, a safe path is estimated, and the robot steers the camera around the obstacle with a clearance of a few millimeters.<>Keywords
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