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Stereo Vision System for Mobile Robot Navigation

Stereo Vision System for Mobile Robot Navigation

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An essay for the 2011 Undergraduate Awards Competition by Han Gong. Originally submitted for Final Year Project at University of Ulster, with lecturer Sonya Coleman in the category of Computer Sciences & Information Studies
An essay for the 2011 Undergraduate Awards Competition by Han Gong. Originally submitted for Final Year Project at University of Ulster, with lecturer Sonya Coleman in the category of Computer Sciences & Information Studies

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Published by: Undergraduate Awards on Aug 29, 2012
Copyright:Attribution Non-commercial

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10/27/2013

 
 
2011May[
Stereo Vision System for Autonomous Mobile Robot Navigation
] 
The navigation of mobile robots is a broad topic which covers some veryancient techniques, as well as some of the most advanced space science andengineering. Sonar, infrared sensor and laser technology are frequently usedas range scanners. As for these three methods, the reliabilities of them arequite satisfying. However, none of the single sensors can retrieve colourfulstereo information from circumstance without the assistance of other sensor.This report presents a cheap and purely stereo binocular vision basednavigation system for mobile robots which is capable of detecting the 3Dlocations of obstacles and the boundaries of traversable area, trackingspecific objects and planning routes in a basic way. Through the module tests,it is shown that our solution is particularly suitable for short-range mobile robotnavigation and there are various potential extensions of this system.
 
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