Robot navigation based on pseudo-binocular stereo vision and linear fitting

Deng，Huanshihong; Dong，Pingcheng; Li，Zhuoao; Lyu，Haoran; Zhang，Yangyi; Luo，Yiwei; An，Fengwei

10.1109/ICTA50426.2020.9332014

2020-11-23

978-1-7281-8033-5

Proceedings of 2020 IEEE International Conference on Integrated Circuits, Technologies and Applications, ICTA 2020

174-175

23-25 Nov. 2020

Nanjing, China

In this paper, we propose a pseudo-binocular stereo vision and linear fitting to achieve robot navigation. Pseudo-binocular stereo vision is realized by moving the robot body to the left or right with a certain distance. Then, a disparity map is calculated with the semi-global matching algorithm. This method can overcome the interference of complex color and texture for objects that are at the same distance. After edge detection and binarizing of the disparity map, road lines are extracted by the Hough transform algorithm. To extract the road lines from the noisy edges, the least square method for linear fitting is utilized for high-accuracy navigation.

binocular stereo vision Hough transform linear fitting Robot navigation semi-global matching

第一

英语

EI

20210709927950

Edge detection ; Hough transforms ; Integrated circuits ; Least squares approximations ; Navigation ; Roads and streets ; Robots ; Stereo image processing ; Textures

Roads and Streets:406.2 ; Semiconductor Devices and Integrated Circuits:714.2 ; Data Processing and Image Processing:723.2 ; Computer Applications:723.5 ; Robotics:731.5 ; Mathematical Transformations:921.3 ; Numerical Methods:921.6

2-s2.0-85100984368

Scopus

Southern University of Science and Technology,School of Microelectronics,

Deng，Huanshihong,Dong，Pingcheng,Li，Zhuoao,et al. Robot navigation based on pseudo-binocular stereo vision and linear fitting[C],2020:174-175.