Obstacle Avoidance for Autonomous Mobile Robot using Stereo Camera

Supervisor: Ph.D Le Thanh Ha Ph.D Vu Thi Hong Nhan Student: Nguyen Van Hoan
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Mobile Robot

Many applications: entertainment ,household or office assistants, space.. These types of robots are designed to move around within an often highly unstructured and unpredictable environment.

Problem
Autonomous robots operating in an unknown and uncertain environment must be able to cope with dynamic changes to that environment.
=> For a mobile robot to navigate successfully to a goal whilst avoiding both static and dynamic obstacles is a challenging problem.

Problem Solving Method

Vision is one of the most powerful and popular sensing method used for autonomous navigation.

The past decade has seen the rapid development of vision based sensing for navigation tasks.
=> Vision-based navigation for mobile robots is still an open research area. One of the most important aims of this study is to improve the vision algorithm and control algorithms for dynamic obstacle avoidance.
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Problem Solving Method (cont)

=> My

thesis proposes to develop a good obstacle detection method using stereo camera must be capable of the following To detect obstacles on a given space in real time; To detect and identify correct obstacles; To identify and ignore ground features that may appear as obstacles
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Problem Solving Method (cont)

Flow of a good obstacle detection method using stereo camera

Stereo Images Build Depth Map Segmentation object Find Obstacles

Outline Thesis
1 Introduction a. Obstacle Detection for mobile robot and Previous work 4 Implementation b. Overview this project a. Real time stereo 2 Literature Review correspondences a. A brief overview of a stereo vision Matching cost computation system Cost aggregation b. The stereo correspondence Disparity problems computation/optimization c. Algorithms for stereo Disparity refinement correspondence b. Image Segmentation d. Image Segmentation c. Obstacle detection 3 Design System 5 Evaluation a. Hardware Constraints 5.1 Stereo Correspondence b. Development Environment 5.2 Image Segmentation 6 Conclusion 6.2 Research Results 6.3 Further Work 7

Progress of the work

Implement a algorithm to recognize dynamic moving obstacles and collusion avoidance in real time
Step 1: Build depth map using real time algorithm

- How to create depth map using stereo image - Problem in build stereo image (Matching cost computation, Cost
aggregation, Disparity optimization, Disparity refinement)

- Some real time algorithm (Belief Propagation, Bilateral, Cooperative

optimization, Graph cut)

Problem in large scale image

Step 2: Segmentation obstacles - Some segmentation methods: ( contour segmentation, labeled

segmentation)
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Work Plan
- Find and estimate some real time algorithms to choose the most appropriate one for the problem. - Implement this algorithm for building depth map. - Improve the accuracy of depth map. - Segment the object in depth map. - Find obstacles. - Improve English - Improve speaking skill and communication skill

Thanks for your listening

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