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Computer Vision for Mobile Robot Navigation

Hirschmüller, Heiko and Schmid, Korbinian and Suppa, Michael (2015) Computer Vision for Mobile Robot Navigation. In: Photogrammetric Week '15, pp. 143-154. Wichmann. Photogrammetrische Woche 2015, 7-11 September 2015, Stuttgart, Germany.

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Official URL: http://www.ifp.uni-stuttgart.de/publications/phowo15/150Hirschmueller.pdf


Vision is a very important sense for humans. Robots also need to be aware of their environment for working in it. This is even more important for mobile robots that operate in unknown environments that are not prepared for robots. In this paper, we focus on the aspect of navigation of mobile robots for applications in search and rescue as well as planetary exploration. We discuss a typical vision pipeline and navigation stack that has been developed at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR). In recent years, we have successfully applied the solution to a number of crawling, driving and flying robots. We present mobile systems in several applications and also discuss the relation between computer vision and photogrammetry.

Item URL in elib:https://elib.dlr.de/98635/
Document Type:Conference or Workshop Item (Speech)
Title:Computer Vision for Mobile Robot Navigation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirschmüller, HeikoRM-RSUNSPECIFIED
Schmid, Korbiniankorbinian.schmid (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) roboception.deUNSPECIFIED
Date:8 September 2015
Journal or Publication Title:Photogrammetric Week '15
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 143-154
Fritsch, DieterUNSPECIFIED
Keywords:computer vision, stereo vision, navigation, mobile robots
Event Title:Photogrammetrische Woche 2015
Event Location:Stuttgart, Germany
Event Type:international Conference
Event Dates:7-11 September 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Hirschmüller, Dr.(PH.D.) Heiko
Deposited On:13 Nov 2015 21:45
Last Modified:31 Jul 2019 19:55

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