liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Obstacle detection using stereo vision for unmanned ground vehicles
Linköping University, Department of Science and Technology.
2009 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In recent years, the market for automatized surveillance and use of unmanned ground vehicles (UGVs) has increased considerably. In order for unmanned vehicles to operate autonomously, high level algorithms of artificial intelligence need to be developed and accompanied by some way to make the robots perceive and interpret the environment. The purpose of this work is to investigate methods for real-time obstacle detection using stereo vision and implement these on an existing UGV platform. To reach real-time processing speeds, the algorithms presented in this work are designed for parallel processing architectures and implemented using programmable graphics hardware. The reader will be introduced to the basics of stereo vision and given an overview of the most common real-time stereo algorithms in literature along with possible applications. A novel wide-baseline real-time depth estimation algorithm is presented. The depth estimation is used together with a simple obstacle detection algorithm, producing an occupancy map of the environment allowing for evasion of obstacles and path planning. In addition, a complete system design for autonomous navigation in multi-UGV systems is proposed.

Place, publisher, year, edition, pages
2009. , 45 p.
Keyword [en]
Depth estimation, Stereo vision, Obstacle detection, UGV
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:liu:diva-18255ISRN: LiU-ITN-TEK-A--09/025--SEOAI: diva2:217591
Available from: 2009-05-27 Created: 2009-05-14 Last updated: 2011-05-18Bibliographically approved

Open Access in DiVA

fulltext(2013 kB)889 downloads
File information
File name FULLTEXT01.pdfFile size 2013 kBChecksum SHA-512
Type fulltextMimetype application/pdf
movie(3682 kB)75 downloads
File information
File name MOVIE01.mpegFile size 3682 kBChecksum SHA-512
Type movieMimetype video/mpeg
movie(2470 kB)48 downloads
File information
File name MOVIE02.mpegFile size 2470 kBChecksum SHA-512
Type movieMimetype video/mpeg
movie(3801 kB)49 downloads
File information
File name MOVIE03.mpegFile size 3801 kBChecksum SHA-512
Type movieMimetype video/mpeg
movie(2574 kB)47 downloads
File information
File name MOVIE04.mpegFile size 2574 kBChecksum SHA-512
Type movieMimetype video/mpeg

Search in DiVA

By author/editor
Olsson, Martin
By organisation
Department of Science and Technology
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar
Total: 889 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 2281 hits
ReferencesLink to record
Permanent link

Direct link