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Obstacle Avoidance for

Autonomous Mobile Robot using

Stereo Camera

Supervisor: Ph.D Le Thanh Ha

Ph.D Vu Thi Hong Nhan

Student: Nguyen Van Hoan

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Mobile Robot

Many applications: entertainment ,household oroffice assistants, space..

These types of robots are designed to move aroundwithin an often highly unstructured and

unpredictable environment. 2

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Problem

Autonomous robots operating in an unknown

and uncertain environment must be able to cope

with dynamic changes to that environment.

=> For a mobile robot to navigate successfully to a

goal whilst avoiding both static and dynamicobstacles is a challenging problem.

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Problem Solving Method

Vision is one of the most powerful and popular sensing

method used for autonomous navigation.

The past decade has seen the rapid development of visionbased sensing for navigation tasks.

=> Vision-based navigation for mobile robots is still an open

research area. One of the most important aims of this study is

to improve the vision algorithm and control algorithms for

dynamic obstacle avoidance.

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Problem Solving Method (cont)

=>My thesis proposes to develop a good obstacle detection

method using stereo camera must be capable of thefollowing

To detect obstacles on a given space in real time;

To detect and identify correct obstacles;

To identify and ignore ground features that may

appear as obstacles

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Problem Solving Method (cont)

Stereo ImagesBuild Depth

MapSegmentation

objectFind

Obstacles

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Flow of a good obstacle detection method

using stereo camera

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Outline Thesis

1 Introduction

a. Obstacle Detection for mobilerobot and Previous work

b. Overview this project

2 Literature Review

a. A brief overview of a stereo vision

systemb. The stereo correspondence

problems

c. Algorithms for stereo

correspondence

d. Image Segmentation

3 Design System

a. Hardware Constraints

b. Development Environment

4 Implementation

a. Real time stereo

correspondences

Matching cost computation

Cost aggregation Disparity

computation/optimization

Disparity refinement

b. Image Segmentation

c. Obstacle detection

5 Evaluation

5.1 Stereo Correspondence

5.2 Image Segmentation

6 Conclusion

6.2 Research Results

6.3 Further Work 7

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Progress of the work

Implement a algorithm to recognize dynamic movingobstacles and collusion avoidance in real time

Step 1: Build depth map using real time algorithm

- How to create depth map using stereo image

- Problem in build stereo image (Matching cost computation, Costaggregation, Disparity optimization, Disparity refinement)

- Some real time algorithm(Belief Propagation, Bilateral, Cooperative

optimization, Graph cut)- Problem in large scale image

Step 2: Segmentation obstacles

- Some segmentation methods: ( contour segmentation, labeledsegmentation)

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Work Plan

- Find and estimate some real time algorithms to choose the most

appropriate one for the problem.

- Implement this algorithm for building depth map.

- Improve the accuracy of depth map.- Segment the object in depth map.

- Find obstacles.

- Improve English

- Improve speaking skill and communication skill

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Thanks for your listening

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