Title: Obstacle Avoidance Using Stereo Camera,
Abstract: In this paper we present a novel method for obstacle avoidance using the
stereo camera. The conventional obstacle avoidance methods and their
limitations are discussed. A new algorithm is developed for the real-time
obstacle avoidance which responds faster to unexpected obstacles. In this
approach the depth map is divided into optimized number of regions and the
minimum depth at each section is assigned as the depth of that region. A fuzzy
controller is designed to create the drive commands for the robot/quadcopter.
The system was tested on multiple paths with different obstacles and the
results demonstrated the high accuracy of the developed system.