Multi-cue visual obstacle detection for mobile robots


Autonomous navigation is one of the most essential capabilities of autonomous robots. In order to navigate autonomously, robots need to detect obstacles. While many approaches achieve good results tackling this problem with lidar sensor devices, vision based approaches are cheaper and richer solutions. This paper presents an algorithm for obstacle detection using a stereo camera pair that overcomes some of the limitations of the existing state of the art algorithms and performs better in many heterogeneous scenarios. We use both geometric and color based cues in order to improve its robustness. The contributions of the paper are improvements to the state of the art on single and multiple cue obstacle detection algorithms and a new heuristic method for merging its outputs.

Publication DOI:
Divisions: College of Engineering & Physical Sciences > School of Informatics and Digital Engineering > Computer Science
College of Engineering & Physical Sciences
Additional Information: This document is under a Creative Commons Attribution 4.0 International license (CC BY 4.0)
Publication ISSN: 1888-0258
Full Text Link:
Related URLs: https://www.jop ... r-mobile-robots (Publisher URL)
PURE Output Type: Article
Published Date: 2010-01
Authors: Fernández-Arguelles, Luis Jesús Manso (ORCID Profile 0000-0003-2616-1120)
Castro, Pablo Bustos García de
Burgos, Pilar Bachiller
Pozo, José Moreno del



Version: Published Version

License: Creative Commons Attribution

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