| Title |
Robot Vision System based on 3D Depth map and Object Recognition |
| DOI |
https://doi.org/10.5573/ieie.2020.57.3.101 |
| Keywords |
Autonomous Robot ; Stereo Camera ; Depth Map ; Lidar ; SLAM ; |
| Abstract |
In this paper, the method for an effective and intelligent route decision of an automatic moving robot using a 2D spatial map through a fusion of the stereo camera system and Lidar sensor is proposed. The spatial fusion transforms the lidar coordinates into the camera coordinates and then, the depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The automatic moving robot move automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with the stereo images, it is analyzed that the proposed algorithm is capable of multi obstacle detection with high accuracy in real-time on our own acquired data. From these good experimental results a possibility of implementing an autonomous robot using the proposed scheme is finally suggested. |