Showing papers by "Anurag Mittal published in 1997"
01 Jan 1997
TL;DR: This work demonstrates a method of using information derived from a partially calibrated vision system to guide a mobile vehicle through free space in an environment with static obstacles, and provides a user controlled system for navigating through the free space.
Abstract: This work demonstrates a method of using information derived from a partially calibrated vision system to guide a mobile vehicle through free space in an environment with static obstacles. The system used consists of a mobile robot with a pair of cameras mounted on it to grab stereo images of the scene. Correspondences are determined between corners in the two images. Information derived from a one-time o ine calibration is used in back projection to recover the 3D structure. This is projected on to ground parallel points and the robot moves through the available space. The ultimate goal of a navigation project is to provide an automated control for the robot. In this work, we have implemented a smaller subset of the total navigation problem. Our objective is to demonstrate the use of a simpler method, instead of existing elaborate and expensive techniques to build a robust navigation system. Our work provides a user controlled system for navigating through the free space. We have also attempted to implement a small automated version, which navigates through the space between two objects. This work can be used as the basis for a more complete navigation system.