This paper describes a simple method of fast background subtraction based upon disparity
verification that is invariant to arbitrarily rapid run-time changes in illumination. Using two or …

Ground plane perception is of vital importance to human mobility. In order to develop a
stereo-based mobility aid for the partially sighted, we model the ground plane based on …

This paper presents a method for road detection and obstacle detection entirely based on
stereovision. The ground plane is estimated online by least square fitting of disparity data …

Different sensing techniques have been used for a long time in the development of remote
operated vehicles (ROVs) and, in the recent years, autonomous underwater …

Autonomous navigation is one of the most essential capabilities of autonomous robots. In
order to navigate autonomously, robots need to detect obstacles. While many approaches …

Cheap cameras and fast processors have made it possible to visually exploit geometric
constraints in real time. It has been shown that the fast depth segmentation (FDS) algorithm …

An obstacle detection and avoidance system that uses a stereo pair of cameras but needs
no 3D reconstruction of the surroundings is described. The system is designed for a …

Uma das principais ações que um robô móvel autônomo deve ser capaz de realizar é
desviar de obstáculos enquanto navega por um ambiente. O fluxo óptico, obtido a partir de …

A six-legged robot system demonstrating reactive behaviors of simple organisms—walking
between two walls, steering around obstacles, making turns at corners, and making U-turns …

A utilização da percepção permite a um sistema robótico uma maior autonomia e
flexibilidade de funcionamento em ambientes dinâmicos. Estas capacidades possibilitam a …