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Obstacle detection by segment grouping in mobile robot navigation

This paper describes a technique for detection of unknown obstacles using a stereo pair of TV cameras, for mobile robot navigational purpose. Three-dimensional information is recovered by matching segments. Moreover a feature grouping technique is used to produce a coarse obstacle reconstruction, but enough for detecting the free space (without obstacles) in the environment. The advantage is to use a such reconstructed obstacle map is twofold: higher resolution than map obtained by active sensors such as ultrasonics and, moreover, the obstacles are detected from far than active sensors. Results on experimental stereo images, acquired in our laboratory, are presented in order to illustrate the reliability of the technique.