期刊名称：Signal & Image Processing : An International Journal (SIPIJ)
印刷版ISSN：2229-3922
电子版ISSN：0976-710X
出版年度：2014
卷号：5
期号：4
页码：45
出版社：Academy & Industry Research Collaboration Center (AIRCC)
摘要：Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonarsensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build amap of the corresponding environment. Stereo vision,while still being a rapidly developing technique in thefield of autonomous mobile robots, are currently less preferable due to its high implementation cost. Thispaper aims at describing an experimental approach for the building of a stereo vision system that helps therobots to avoid obstacles and navigate through indoor environments and at the same time remaining verymuch cost effective. This paper discusses the fusion techniques of stereo vision and ultrasound sensorswhich helps in the successful navigation through different types of complex environments. The data fromthe sensor enables the robot to create the two dimensional topological map of unknown environments andstereo vision systems models the three dimension model of the same environment.
关键词：Arduino; SLAM; Point clouds; Stereo vision system; Triangulation
