Map-based navigation for a mobile robot with omnidirectional image sensor COPIS
| Autor: | Y. Nishizawa, Yasushi Yagi, M. Yachida |
|---|---|
| Rok vydání: | 1995 |
| Předmět: |
Computer science
business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Robotics Mobile robot Image processing Mobile robot navigation Computer Science::Robotics Control and Systems Engineering Conic section Computer Science::Computer Vision and Pattern Recognition Motion estimation Robot Computer vision Motion planning Artificial intelligence Electrical and Electronic Engineering Image sensor business |
| Zdroj: | IEEE Transactions on Robotics and Automation. 11:634-648 |
| ISSN: | 1042-296X |
| DOI: | 10.1109/70.466602 |
| Popis: | We designed a new omnidirectional image sensor COPIS (Conic Projection Image Sensor) to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time (at the frame rate of a TV camera), using a conic mirror. COPIS is a suitable sensor for visual navigation in a real world environment. We report here a method for navigating a robot by detecting the azimuth of each object in the omnidirectional image. The azimuth is matched with the given environmental map. The robot can precisely estimate its own location and motion (the velocity of the robot) because COPIS observes a 360/spl deg/ view around the robot, even when all edges are not extracted correctly from the omnidirectional image. The robot can avoid colliding against unknown obstacles and estimate locations by detecting azimuth changes, while moving about in the environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring azimuth change in the image. > |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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