An obstacle detection system using a light stripe identification based method

Abstract

Abstract

Model-based light stripe detection for indoor navigation

“…(14)- (16). However, as HDRi-based method, which is used to reconstruct LSF irradiance map, needs to capture hundreds of images while moving slightly and perpendicularly to wall surface, its execution is hard whenever the system meets a new environment.…”

“…Parameter functions of distance, Eqs. (14)- (16), were estimated. While changing the distance between light plane projector and painted wall, 2D Gaussian function parameters were estimated.…”

“…If LSP is applied to a situation where the variation of depth to objects is large, like environment and object recognition for intelligent vehicle [7,13] and mobile robot [14][15][16] in indoor navigation, two new problems arise. The first is defocusing problem.…”

Robust colour and range sensing for robotic applications using a stereoscopic light stripe scanner

“…Light stripe range cameras are used in many robotic systems for purposes such as navigation [1][2], obstacle detection [5], object recognition [3], and visual servoing [4]. In most cases, active sensing is preferred over passive stereo because it provides a computationally efficient and robust solution to the correspondence problem.…”

“…In [5], the light stripe is pulsed to distinguish between the laser and ambient noise. In [6], specular reflections are eliminated by moving the scanner relative to the scene and analysing the motion of the reconstructed range data.…”