Robot vision system for obstacle avoidance planning
Giovanni Attolico, Laura Caponetti, Maria Teresa Chiaradia, Arcangelo Distante · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1991
The obstacles are treated as stationary obstacles providing the input to a path planning algorithm. It is assumed that the vehicle is equipped with a TV camera which scans the navigational space and provides information about the obstacles. The sensing system samples the observation space at predetermined time intervals. Due to the relative motion of the camera system with respect to the environment a''two-dimensional image flow is created on the image plane. The appareance of an obstacle can be recovered by means an optical flow analysis of the regions corresponding to surfaces having different depths.