Contents

• 1.1 Obstacle Detection
  
• 1.2 Implementation
  

• 2.1 Detecting Obstacles and navigating around them
  
• 2.2 Robot Localisation
  
• 2.3 Texture
  

I Obstacle Detection

• 4.1 Why Use Vision?
  
• 4.2 Obstacle Detection and Tracking
  
• 4.3 Environment
  
• 4.4 Camera Modeling
  
• 4.5 Obstacle Detection
  
  • 4.5.1 Detecting an object within an image segment
    
  • 4.5.2 Image Segmentation
    
• 4.6 Correlating the spectra
  
  • 4.6.1 Designing the function
    
  • 4.6.2 The spectral difference method
    
  • 4.6.3 The spectral difference method - revised
    
  • 4.6.4 Coosing threshold values
    
• 4.7 Other ways of correlating spectra
  
• 4.8 Obstacle position
  
• 4.9 Finding the ground
  
• 4.10 Adaptation
  
• 4.11 Vision and Digitisation software