Real-time omnidirectional image sensor (COPIS) for vision-guided navigation

Author

Yagi, Yasushi ; Kawato, Shinjiro ; Tsuji, Saburo

Author_Institution

Dept. of Syst. Eng., Osaka Univ., Japan

Volume

10

Issue

1

fYear

1994

fDate

2/1/1994 12:00:00 AM

Firstpage

11

Lastpage

22

Abstract

Describes a conic projection image sensor (COPIS) and its application: navigating a mobile robot in a manner that avoids collisions with objects approaching from any direction. The COPIS system acquires an omnidirectional view around the robot, in real-time, with use of a conic mirror. Based on the assumption of constant linear motion of the robot and objects, the objects moving along collision paths are detected by monitoring azimuth changes. Confronted with such objects, the robot changes velocity to avoid collision and determines locations and velocities

Keywords

computer vision; computerised navigation; image sensors; mobile robots; path planning; COPIS; azimuth changes; collision avoidance; collision paths; conic mirror; conic projection image sensor; constant linear motion; mobile robot; real-time omnidirectional image sensor; vision-guided navigation; Azimuth; Image sensors; Mirrors; Mobile robots; Monitoring; Motion detection; Navigation; Object detection; Real time systems; Robot sensing systems;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.285581

Filename

285581