Obstacle avoidance with pure Vision approach?

asked 2018-02-13 21:23:09 -0500

Astronaut gravatar image


I would like to do obstacle avoidance using pure Vision approach. I will use ROS and Ubuntu as a framework. The application is in construction industry so would like to detect the material winch is handling by the crane to perform obstacle avoidance . My question is , if its possible to use only vision approach for obstacle avoidance where the distance form the camera to the object can be 30-40m. I will use the zoom for better approach. If its possible to use only Vision camera any starting algorithm to look at it?


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Well stereo camera setup is pure vision based , yes you can construct a disparity map which could then be used for depth . Depth can be used for the purpose of mapping while performing path planing keeping obstacle avoidance in mind .

chris_sunny gravatar imagechris_sunny ( 2018-02-13 23:04:46 -0500 )edit


Check out this stereo camera , cost wise its a little on the higher side , but a lot can be achieved using this device .

chris_sunny gravatar imagechris_sunny ( 2018-02-13 23:06:46 -0500 )edit

I know this ZED camera. But the distance is quite long, as for some high rise buildings can be over 50 m easily and the depth information from the camera in that case can not be used. So is the distance a problem for pure vision approach?

Astronaut gravatar imageAstronaut ( 2018-02-14 00:14:16 -0500 )edit

What do you mean by "pure vision based approach"? No 3D information?

gvdhoorn gravatar imagegvdhoorn ( 2018-02-14 01:56:40 -0500 )edit

I mean only using Machine Vision Camera, no other sensors.

Astronaut gravatar imageAstronaut ( 2018-02-14 03:01:24 -0500 )edit

You need good contrast in order for stereo cameras to give you good depth information.

Kurt Leucht gravatar imageKurt Leucht ( 2018-02-14 13:28:20 -0500 )edit

but if the distance is far , let say more then 50m how can be provided the depth information?

Astronaut gravatar imageAstronaut ( 2018-02-14 20:32:38 -0500 )edit

And is there any code using ROS, Neural Networks or Deep Learning, Machine Vision based obstacle avoidance code? Just o start it as Im beginner in this

Astronaut gravatar imageAstronaut ( 2018-02-14 20:51:50 -0500 )edit