Obstacle Detection of a Mobile Robot

Abstract

This project Obstacle detection and avoidance by a mobile robot deals with detection and avoidance of obstacles of a mobile robot. Webcam captures images of the environment in which the robot moves. Image processing methods are then performed to identify the existence of obstacles within the environment. Algorithms are implemented in MATLAB with Image Processing toolbox. Planar geometry and corner detection methods are used in this obstacle detection method.Digital camera takes the pairs of images of the scene. Using planar homography warped image is formed. Obstacle detection is done by comparing the warped image with the final image