ステレオカメラによる移動量推定と障害物検出

抄録

This research aims to measure the position and velocity of moving objects using a stereo camera. In order to navigate a mobile robot in a dynamic environment while avoiding collision with moving objects and walking persons, finding objects and predicting their motion are needed. In the case of mobile robot, Unlike the detection of moving objects by using a fixed position camera, we need to take the ego-motion of the robot into account. In this paper, we propose a method which integrates stereo visual odometry, stereo matching, and optical flow to detect moving objects and estimate their motion from stereo images taken from a mobile robot.