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Investigation of robotic mapping and obstacle avoidance using stereo vision

Investigation of robotic mapping and obstacle avoidance using stereo vision / Kong Teck
Pemetaan Robotik ialah penjanaan peta untuk persekitaran yang tidak diketahui sebab tiada peta priori. Pemetaan Robotik boleh dilakukan dengan menganalisis maklumat sekitar seperti jarak dari halangan. Peta yang dihasilkan boleh digunakan untuk perancangan jalan dalam bantuan bencana dan kawasan yang berbahaya terhadap manusia. Dalam projek ini, sistem penglihatan stereo telah digunakan untuk pengukuran jarak dan prestasinya dalam Pemetaan Robotik dan Navigasi dengan pengelakan halangan telah dinilai. Dua buah kamera Bas Serial Universal telah ditentukur untuk kegunaan penglihatan stereo. Pasangan imej kiri dan kanan diperoleh dan diproses untuk mendapatkan peta dispariti. Kemudian, peta v-dispariti dan u-dispariti dihasilkan untuk pengekstrakan jalan dan pengekstrakan latar belakang. Sistem yang dibina dapat mengukur halangan-halangan dalam 3m dengan ralat kurang dari 3%. Sistem ini dilaksanakan pada robot beroda untuk navigasi autonomi melalui pengelakan halangan. Robot mampu melewati medan ujian sederhana dengan dua halangan. Maklumat jarak sistem penglihatan stereo digunakan untuk membina 2 dimensi peta grid occupansi bagi medan ujian tersebut. _______________________________________________________________________________________________________ Robotic Mapping is the generation of map for an unknown environment with no priori map. This can be done by analyzing the information of surrounding such as distance from obstacles. The map generated is useful for path planning in disaster relief and area with hazardous toward human. In this project, stereo vision system is being investigated for the performance on distance measurement for Robotic Mapping and Obstacle Avoidance. Two Universal Serial Bus cameras are being calibrated for stereo vision. Left and Right image pair is acquired and being processed to obtain disparity map. Then, v-disparity and u-disparity map are generated for road extraction and background extraction. The developed system able to measure the obstacles within 3m with error less than 3%. This system is implemented on wheeled robot for autonomous navigation through obstacle avoidance. The robot able to pass through the simple test field with two obstacles. The range information of stereo vision system is used to generate a 2 dimensional occupancy grid map for the test field.
Contributor(s):
Kong Teck Seng - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875008653
Language:
English
Subject Keywords:
Robotic; Mapping; vision
First presented to the public:
6/1/2019
Original Publication Date:
3/5/2020
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 100
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2020-03-05 16:51:20.002
Date Last Updated
2020-06-08 20:46:25.991
Submitter:
Mohd Jasnizam Mohd Salleh

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