Vision-based Approach to Obstacle Avoidance

  title={Vision-based Approach to Obstacle Avoidance},
  author={Yoko Watanabe and Eric N. Johnson and Anthony J. Calise},
This paper describes a 3D obstacle modeling system which uses a 2D vision sensor. Prior work tracks feature points in a sequence of images and estimates their positions. However, in this paper we use obstacle edges instead. Using an image segmentation technique, edges are detected as line segments. Subsequently, these edges are modeled in a 3D space from the measured line segments using known camera motions. The z-test method is used for correlating estimated line data with measurements. Line… CONTINUE READING