Research Article
Depth Estimation and Navigation Route Planning for Mobile Robots Based on Stereo Camera
@INPROCEEDINGS{10.1007/978-3-031-28975-0_15, author={Ajay Kumar Kushwaha and Supriya M. Khatavkar and Dhanashri Milind Biradar and Prashant A. Chougule}, title={Depth Estimation and Navigation Route Planning for Mobile Robots Based on Stereo Camera}, proceedings={Cognitive Computing and Cyber Physical Systems. Third EAI International Conference, IC4S 2022, Virtual Event, November 26-27, 2022, Proceedings}, proceedings_a={IC4S}, year={2023}, month={3}, keywords={Depth estimation Disparity map Stereo vision Autonomous vehicles Robot Block matching Sum of absolute difference (SAD)}, doi={10.1007/978-3-031-28975-0_15} }- Ajay Kumar Kushwaha
Supriya M. Khatavkar
Dhanashri Milind Biradar
Prashant A. Chougule
Year: 2023
Depth Estimation and Navigation Route Planning for Mobile Robots Based on Stereo Camera
IC4S
Springer
DOI: 10.1007/978-3-031-28975-0_15
Abstract
The extraction of three dimensional (3D) information from digital pictures, such as those acquired by a CCD camera, is known as computer stereo vision. Examining the relative locations of things in the two panels allows 3D information to be derived by comparing information about a scene from two viewpoints. We employed two cameras in the suggested system to identify obstructions in front of the autonomous vehicle or robot using the disparity idea. The absolute difference between the two pictures is calculated and utilized to regulate the motion of the vehicle/robot. Edge pixels retrieved from two pictures are matched, and a dense disparity map is generated by filling in the gaps between two consecutive edge pixels. A system has been proposed that permits the identification of an ideal path in real time between a starting point and a desired position in a congested environment using stereo vision, followed by a path planning algorithm and navigation enabling easy vehicle/robot traversal.
