Visual navigation and obstacle avoidance structured light system
US4954962A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 6, 1988 |
| Grant date | Sep 4, 1990 |
| Priority date | — |
| Expiry date | Sep 6, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0274
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A vision system for a vehicle, such as a mobile robot (10) includes at least one radiation projector (14, 16) which projects a structured beam of radiation into the robot's environment. The structured beam of radiation (14a, 16a) preferably has a substantially planar pattern of sufficient width to encompass the immediate forward path of the robot and also to encompass laterally disposed areas in order to permit turning adjustments. The vision system further includes an imaging (12) sensor such as a CCD imaging device having a two-dimensional field of view which encompasses the immediate forward path of the robot. An image sensor processor (18) includes an image memory (18A) coupled to a device (18D) which is operable for accessing the image memory. Image processing is accomplished in part by triangulating the stored image of the structured beam pattern to derive range and bearing, relative to the robot, of an object being illuminated. A navigation control system (20) of the robot inputs data from at least the vision system and infers therefrom data relating to the configuration of the environment which lies in front of the robot. The navigation control system generates control sign…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.