Abstract

RIVEROS GUEVARA, Adriana; SALAS LOPEZ, Cindy Natalia  and  SOLAQUE GUZMAN, Leonardo. AN APPROACH TO AUTONOMOUS NAVIGATION OF A MOBILE PLATFORM USING A STEREOSCOPIC VISION. Cienc. Ing. Neogranad. [online]. 2012, vol.22, n.2, pp.111-129. ISSN 0124-8170.

ABSTRACT An artificial vision tries to capture relevant information from environment using cameras as sensors of certain characteristics (shapes, colors, textures, etc.) for a proper functioning of some mechanisms. In order to get an identical image to real environment, it is required to generate stereoscopic images that allow us to get the depth and thus a 3D representation. This paper shows an artificial stereoscopic vision system incorporated to a mobile robot to recognize and follow the center of a path. Such a system handles the capture, processing and characterization of images using offline procedures such to standardize cameras and online methods for a disparity mapping generation, application of the Canny edge detector and the Hough transform, using the OpenCV libraries in Win32 Console project in C++. It`s important to mention that algorithms developed in this work are fundamentally for structured environments. Environments can classified as follows: structured, non-structured and semi-structured.

Keywords : stereovision; disparity mapping; Open CV; Canny edge detector; Hough transform.

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