Vision based techniques of 3D Obstacle reconfiguration for the outdoor drilling mobile robot

Abstract

This work describes a set of techniques, based on the vision system, designed to supplement information about environment by adding three-dimensional objects representations. Described vision system plays a role of supplementary part of the SLAM technique for gathering information about surrounding environment by an autonomous robot. Algorithms are especially prepared for a mobile drilling robot. The main characteristics of the robot and its applications are defined in the first part of this paper. Then, the technical aspects and the execution steps of the algorithms utilized by the vision system are described. In the last part of this paper, the test case along with the results, presenting sample application of the vision system, is presented.