Mobile robot obstacle avoidance via depth from focus
Publication
, Journal Article
Nourbakhsh, IR; Andre, D; Tomasi, C; Genesereth, MR
Published in: Robotics and Autonomous Systems
November 20, 1997
A critical challenge in the creation of autonomous mobile robots is the reliable detection of moving and static obstacles. In this paper, we present a passive vision system that recovers coarse depth information reliably and efficiently. This system is based on the concept of depth from focus, and robustly locates static and moving obstacles as well as stairs and dropoffs with adequate accuracy for obstacle avoidance. We describe an implementation of this vision system on a mobile robot as well as real-world experiments both indoors and outdoors. These experiments have involved several hours of continuous and fully autonomous operation in crowded, natural settings.
Duke Scholars
Published In
Robotics and Autonomous Systems
DOI
ISSN
0921-8890
Publication Date
November 20, 1997
Volume
22
Issue
2
Start / End Page
151 / 158
Related Subject Headings
- Industrial Engineering & Automation
- 4603 Computer vision and multimedia computation
- 4602 Artificial intelligence
- 4007 Control engineering, mechatronics and robotics
- 0913 Mechanical Engineering
- 0906 Electrical and Electronic Engineering
- 0801 Artificial Intelligence and Image Processing
Citation
APA
Chicago
ICMJE
MLA
NLM
Nourbakhsh, I. R., Andre, D., Tomasi, C., & Genesereth, M. R. (1997). Mobile robot obstacle avoidance via depth from focus. Robotics and Autonomous Systems, 22(2), 151–158. https://doi.org/10.1016/S0921-8890(97)00051-1
Nourbakhsh, I. R., D. Andre, C. Tomasi, and M. R. Genesereth. “Mobile robot obstacle avoidance via depth from focus.” Robotics and Autonomous Systems 22, no. 2 (November 20, 1997): 151–58. https://doi.org/10.1016/S0921-8890(97)00051-1.
Nourbakhsh IR, Andre D, Tomasi C, Genesereth MR. Mobile robot obstacle avoidance via depth from focus. Robotics and Autonomous Systems. 1997 Nov 20;22(2):151–8.
Nourbakhsh, I. R., et al. “Mobile robot obstacle avoidance via depth from focus.” Robotics and Autonomous Systems, vol. 22, no. 2, Nov. 1997, pp. 151–58. Scopus, doi:10.1016/S0921-8890(97)00051-1.
Nourbakhsh IR, Andre D, Tomasi C, Genesereth MR. Mobile robot obstacle avoidance via depth from focus. Robotics and Autonomous Systems. 1997 Nov 20;22(2):151–158.
Published In
Robotics and Autonomous Systems
DOI
ISSN
0921-8890
Publication Date
November 20, 1997
Volume
22
Issue
2
Start / End Page
151 / 158
Related Subject Headings
- Industrial Engineering & Automation
- 4603 Computer vision and multimedia computation
- 4602 Artificial intelligence
- 4007 Control engineering, mechatronics and robotics
- 0913 Mechanical Engineering
- 0906 Electrical and Electronic Engineering
- 0801 Artificial Intelligence and Image Processing