Mehran University Research Journal of Engineering and Technology (Apr 2012)

Image Based Solution to Occlusion Problem for Multiple Robots Navigation

  • Taj Mohammad Khan,
  • Muhamad AhmedChoudhry

Journal volume & issue
Vol. 31, no. 2
pp. 211 – 218

Abstract

Read online

In machine vision, occlusions problem is always a challenging issue in image based mapping and navigation tasks. This paper presents a multiple view vision based algorithm for the development of occlusion-free map of the indoor environment. The map is assumed to be utilized by the mobile robots within the workspace. It has wide range of applications, including mobile robot path planning and navigation, access control in restricted areas, and surveillance systems. We used wall mounted fixed camera system. After intensity adjustment and background subtraction of the synchronously captured images, the image registration was performed. We applied our algorithm on the registered images to resolve the occlusion problem. This technique works well even in the existence of total occlusion for a longer period.

Keywords