Published Oct 26, 2010

Google Scholar
Search GoogleScholar

Nestor Andrés González-Vargas



This article shows the implementation process of a computer vision system for mobile Robots, which is based on a geometrical approximation of distance measurement and obstacle inclination. The system is mainly composed for a CCD camera, an image acquisition card, and a laser array, which projects two spot lights on to the obstacle.


Laser array, distance measurement, image processingarreglo láser, medición de distancia, procesamiento de imágenes

Canny, J. “A Computational Approach for Edge Detection”. En: IEEE Trans. Pattern Analysis and Machine Intelligence, 8 (6) 1986, 679-698.
Data Traslation. DT3155 User’s Manual. Marlboro: Data Translation, 2000.
Faugeras, O. Three Dimensional Computer Vision, a Geometric Viewpoint. Cambridge, 1993.
Fu, K. S., González, R. C., Lee, C. S. G. Robótica, control, detección visión e inteligencia, Madrid: Mc Graw-Hill, 1998.
González, J. Visión por computador. s.d.: Paraninfo, 1999.
González, R. C., Woods, R. E., Eddins, S. L. Digital Image Processing Using MATLAB. New Jersey: Pearson, 2004.
Hanselman, D., Littlefield, B. R. Mastering MATLAB 6. New Jersey: Pearson Education, 2001.
Hartley, R. Zisserman, A. Multiple View Geometry in Computer Vision. Cambridge, 2000.
Jarvis, R. A. “A Perspective on Range Finding Techniques for Computer Vision,”. EN: IEEE Trans. Pattern Analysis and Machine Intelligence, 5 (2), 1983, 122-139.
Kim, D., Kim, J., Chung, M. J. “An Eye-Gaze Tracking System for People with Motor Disabilities,”. En: Proc. 7th International Conference on Rehabilitation Robotics, Evry Cedex, France, 2001.
Kvasnica, M. “Head Joystick and Interactive Positioning for the Wheelchair,”. En: Proc. 1st International Conference on Smart Homes and Health Telematics, Paris, 2003.
Kvasnica, M. “Six-DOF Sensory System for Interactive Positioning and Motion Control in Rehabilitation Robotics,”. En: Proc. 8th International Conference on Rehabilitation Robotics, Daejeon, Korea, 2003.
Russ, J. C. The Image Processing Handbook. 3rd ed. Boca Raton: CRC Press, 1999.
Tsai, R. “A Versatile Camera Calibration Technique for High Accuracy 3D Machine Vision Metrology Using off-the-shelf TV Cameras and Lenses,”. EN: IEEE Journal of Robotics and Automation, 3 (4), 1987, 323-344.
Vincent, L. “Morphological Grayscale Reconstruction in Image Analysis: Applications and Efficient Algorithms,”. EN: IEEE Trans. on Image Processing, 2(2), 1993, 176–201.
Zitová, B., Kautsky, J., Peters, G., Flusser, J. “Robust Detection of Significant Points”. En: Multiframe Images, Pattern Recognition Letters, 20, 1999, 199-206.
How to Cite
González-Vargas, N. A. (2010). Sistema de visión por computadora para la medición de distancia e inclinación de obstáculos para robots móviles. Ingenieria Y Universidad, 9(2). Retrieved from