Vision Based Target Tracking and Collision Avoidance for Mobile Robots

A real-time object tracking and collision avoidance method for mobile robot navigation is presented using stereo vision and a laser sensor. Stereo vision is used to identify the target while laser based range measurements are utilized to avoid collision with surrounding objects. The target is tracked by its predetermined or dynamically defined color. Experimental results in indoor environments demonstrate the effectiveness of the method. Keywords-Moving target tracking; mobile robot navigation;

• Type: Journal
• Year: 2007
• Where: JIRS
• Authors: Athanasios Tsalatsanis, Kimon P. Valavanis, Ali Yalcin
• Keywords: Collision Avoidance Method, JIRS 2007, Mobile Robot Navigation, Stereo Vision