Stereo Vision-based Local Occupancy Grid Map for Autonomous Navigation in ROS

Pablo Marín-Plaza; Jorge Beltrán; Ahmed Hussein; Basam Musleh; David Martín; Arturo de la Escalera; José María Armingol

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Paper

Stereo Vision-based Local Occupancy Grid Map for Autonomous Navigation in ROS

Topics: Object Detection and Localization; Stereo Vision and Structure from Motion; Tracking and Visual Navigation

In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 3 VISAPP: VISAPP, 701-706, 2016 , Rome, Italy

Authors: Pablo Marín-Plaza ; Jorge Beltrán ; Ahmed Hussein ; Basam Musleh ; David Martín ; Arturo de la Escalera and José María Armingol

Affiliation: Intelligent Systems Lab (LSI) Research Group - Universidad Carlos III de Madrid (UC3M), Spain

Keyword(s): Occupancy Grid Map, Stereo Vision, Autonomous Navigation, ROS.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

Abstract: Autonomous navigation for unmanned ground vehicles has gained significant interest in the research community of mobile robotics. This increased attention comes from its noteworthy role in the field of Intelligent Transportation Systems (ITS). In order to achieve the autonomous navigation for ground vehicles, a detailed model of the environment is required as its input map. This paper presents a novel approach to recognize static obstacles by means of an on-board stereo camera and build a local occupancy grid map in a Robot Operating System (ROS) architecture. The output maps include information concerning the environment 3D structures, which is based on stereo vision. These maps can enhance the global grid map with further details for the undetected obstacles by the laser rangefinder. In order to evaluate the proposed approach, several experiments are performed in different scenarios. The output maps are precisely compared to the corresponding global map segment and to the equivalent satellite image. The obtained results indicate the high performance of the approach in numerous situations. (More)

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Paper citation in several formats:

Marín-Plaza, P.; Beltrán, J.; Hussein, A.; Musleh, B.; Martín, D.; de la Escalera, A. and Armingol, J. (2016). Stereo Vision-based Local Occupancy Grid Map for Autonomous Navigation in ROS. In Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP; ISBN 978-989-758-175-5; ISSN 2184-4321, SciTePress, pages 701-706. DOI: 10.5220/0005787007010706

@conference{visapp16,
author={Pablo Marín{-}Plaza. and Jorge Beltrán. and Ahmed Hussein. and Basam Musleh. and David Martín. and Arturo {de la Escalera}. and José María Armingol.},
title={Stereo Vision-based Local Occupancy Grid Map for Autonomous Navigation in ROS},
booktitle={Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP},
year={2016},
pages={701-706},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005787007010706},
isbn={978-989-758-175-5},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2016) - Volume 3: VISAPP
TI - Stereo Vision-based Local Occupancy Grid Map for Autonomous Navigation in ROS
SN - 978-989-758-175-5
IS - 2184-4321
AU - Marín-Plaza, P.
AU - Beltrán, J.
AU - Hussein, A.
AU - Musleh, B.
AU - Martín, D.
AU - de la Escalera, A.
AU - Armingol, J.
PY - 2016
SP - 701
EP - 706
DO - 10.5220/0005787007010706
PB - SciTePress