ラインレーザーとOpenCVを用いたリアルタイムでの障害物検出

抄録

In recent years, the importance of autonomous mobile robots at the time of disaster has increased. It is necessary to improve disaster robot technology to carry out quick and safe rescue activities. The mainstream of autonomous mobile robots is multiple cameras, but if the technology for collecting information with a single camera can be improved, the cost can be reduced by reducing the number of cameras installed, and even if the same amount of cameras are installed, it will be profitable, and it is expected that the amount and accuracy of the information received will be improved. Therefore, In this paper, an algorithm that reads camera information from a LEGO Mindstorm equipped with a line laser and a single camera and can measure the straight-line distance to an obstacle in real time even in a dynamic environment by using OpenCV and python together. By using Python and OpenCV, it will be possible to measure the distance to obstacles in real time, and it is thought that dynamic detection will be possible in the future.