Stereo-Based Obstacle Avoidance in Indoor Environments with Active Sensor Re-Calibration

  title={Stereo-Based Obstacle Avoidance in Indoor Environments with Active Sensor Re-Calibration},
  author={Darius Burschka and Stephen Lee and Gregory D. Hager},
We present a stereo-based obstacle avoidance system for mobile vehicles. The system operates in three steps. First, it models the surface geometry of supporting surface and removes the supporting surface from the scene. Next, it segments the remaining stereo disparities into connected components in image and disparity space. Finally, it projects the resulting connected components onto the supporting surface and plans a path around them. One interesting aspect of this system is that it can… CONTINUE READING

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