Vision-based autonomous navigation in indoor environments

摘要

The project presents robust vision-based navigation through doorways and hallways where static objects are present. A method is proposed using the fusion of colour features, edge map, motion analysis and stereo vision to help the system interpret visual cues. The system is able to detect ground plane, drop-offs, stairs and doorways, and is able to provide motion information of the camera. The results showing accurate distances to various detected indoor features, suggest that this proposed colour/edge/motion/depth approach would be useful as a navigation aid through doorways and hallways.