Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation

Akhil Appu Shetty; V. I. George; C. Gurudas Nayak; Raviraj Shetty

doi:10.1109/ICECA.2019.8821808

Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation

Akhil Appu Shetty, V. I. George, C. Gurudas Nayak, Raviraj Shetty

Department of Instrumentation and Control Engineering, Manipal Institute of Technology, Manipal
Department of Mechanical and Manufacturing Engineering, Manipal Institute of Technology, Manipal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper discusses a method of using disparity maps, generated from a stereo matching process, to be used for obstacle detection. The disparity map is a direct indicator of the distances the various objects have with respect to the cameras. This information can be further segmented to highlight the obstacle regions. Once the obstacle regions are highlighted, this information can be used for a path planning algorithm to generate the required control signals to direct the robot from a source position to destination position while avoiding the detected obstacles.

Original language	English
Title of host publication	Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	669-675
Number of pages	7
ISBN (Electronic)	9781728101675
DOIs	https://doi.org/10.1109/ICECA.2019.8821808
Publication status	Published - 06-2019
Event	3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019 - Coimbatore, India Duration: 12-06-2019 → 14-06-2019

Publication series

Name	Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019

Conference

Conference	3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019
Country	India
City	Coimbatore
Period	12-06-19 → 14-06-19

All Science Journal Classification (ASJC) codes

Aerospace Engineering
Electrical and Electronic Engineering
Control and Optimization
Computer Networks and Communications
Signal Processing

Access to Document

10.1109/ICECA.2019.8821808

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Cite this

Shetty, A. A., George, V. I., Nayak, C. G., & Shetty, R. (2019). Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation. In Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019 (pp. 669-675). [8821808] (Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICECA.2019.8821808

Shetty, Akhil Appu ; George, V. I. ; Nayak, C. Gurudas ; Shetty, Raviraj. / Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation. Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 669-675 (Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019).

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title = "Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation",

abstract = "This paper discusses a method of using disparity maps, generated from a stereo matching process, to be used for obstacle detection. The disparity map is a direct indicator of the distances the various objects have with respect to the cameras. This information can be further segmented to highlight the obstacle regions. Once the obstacle regions are highlighted, this information can be used for a path planning algorithm to generate the required control signals to direct the robot from a source position to destination position while avoiding the detected obstacles.",

author = "Shetty, {Akhil Appu} and George, {V. I.} and Nayak, {C. Gurudas} and Raviraj Shetty",

year = "2019",

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note = "3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019 ; Conference date: 12-06-2019 Through 14-06-2019",

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Shetty, AA, George, VI , Nayak, CG & Shetty, R 2019, Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation. in Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019., 8821808, Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019, Institute of Electrical and Electronics Engineers Inc., pp. 669-675, 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019, Coimbatore, India, 12-06-19. https://doi.org/10.1109/ICECA.2019.8821808

Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation. / Shetty, Akhil Appu; George, V. I.; Nayak, C. Gurudas ; Shetty, Raviraj.

Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 669-675 8821808 (Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Shetty AA, George VI , Nayak CG , Shetty R. Disparity Maps Based Path Planning Algorithm for Autonomous Robot Navigation. In Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 669-675. 8821808. (Proceedings of the 3rd International Conference on Electronics and Communication and Aerospace Technology, ICECA 2019). https://doi.org/10.1109/ICECA.2019.8821808