OBSTACLE DETECTION WITH ACTIVE LASER TRIANGULATION
Simon Klančnik, J. Balič · 2007
In this article we present the use of an obstacle-detection system that functions with the help of laser triangulation. We have developed this system to increase the safety of speechcontrolled wheelchair. The given position of the set-up camera and laser, and the information regarding the position of a projected laser dot (line, grid, structure), which is acquired with the proposed calculation-efficient methods of image processing, enable us to determine the presence and position of the obstacle in the course. Furthermore, we propose an upgrade of the system by using fuzzy edge detection of object edges, which gives us additional information about the obstacle. Test results showed efficiency of the proposed solution to obstacle detection.