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Authors: Manuela Chessa ; Saverio Murgia ; Luca Nardelli ; Silvio P. Sabatini and Fabio Solari

Affiliation: University of Genoa, Italy

Keyword(s): Bio-inspired Framework, Active Vision, Non-rectified Disparity Estimation, 3D Reconstruction, Robot Navigation.

Abstract: Reliable distance estimation of objects in a visual scene is essential for any artificial vision system designed to serve as the main sensing unit on robotic platforms. This paper describes a vision-centric framework for a mobile robot which makes use of bio-inspired techniques to solve visual tasks, in particular to estimate disparity. Such framework features robustness to noise, high speed in data processing, good performance in 3D reconstruction, the possibility to orientate the cameras independently and it requires no explicit estimation of the extrinsic parameters of the cameras. These features permit navigation with obstacle avoidance allowing active exploration of the scene. Furthermore, the modular design allows the integration of new modules with more advanced functionalities.

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Paper citation in several formats:
Chessa, M.; Murgia, S.; Nardelli, L.; P. Sabatini, S. and Solari, F. (2014). Bio-inspired Active Vision for Obstacle Avoidance. In Proceedings of the 9th International Conference on Computer Graphics Theory and Applications (VISIGRAPP 2014) - WARV; ISBN 978-989-758-002-4; ISSN 2184-4321, SciTePress, pages 505-512. DOI: 10.5220/0004873705050512

@conference{warv14,
author={Manuela Chessa. and Saverio Murgia. and Luca Nardelli. and Silvio {P. Sabatini}. and Fabio Solari.},
title={Bio-inspired Active Vision for Obstacle Avoidance},
booktitle={Proceedings of the 9th International Conference on Computer Graphics Theory and Applications (VISIGRAPP 2014) - WARV},
year={2014},
pages={505-512},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004873705050512},
isbn={978-989-758-002-4},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Computer Graphics Theory and Applications (VISIGRAPP 2014) - WARV
TI - Bio-inspired Active Vision for Obstacle Avoidance
SN - 978-989-758-002-4
IS - 2184-4321
AU - Chessa, M.
AU - Murgia, S.
AU - Nardelli, L.
AU - P. Sabatini, S.
AU - Solari, F.
PY - 2014
SP - 505
EP - 512
DO - 10.5220/0004873705050512
PB - SciTePress

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