DocumentCode
2326958
Title
Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision
Author
Yagi, Yasushi ; Nishii, Wataru ; Yamazawa, Kazumasa ; Yachida, Masahiko
Author_Institution
Fac. of Eng. Sci., Osaka Univ., Japan
Volume
1
fYear
1996
fDate
25-29 Aug 1996
Firstpage
946
Abstract
Described here is a method for estimating a rolling motion of a mobile robot from optical flows. We have proposed an image sensor with a hyperboloidal mirror for vision based navigation of the mobile robot. Its name is HyperOmniVision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of the hyperboloidal mirror. The radial component of optical flow in HyperOmniVision has a periodic characteristic. The proposed method makes use of this characteristic to estimate robustly the rolling motion of the robot
Keywords
image sensors; mobile robots; motion estimation; robot vision; hyperboloidal mirror; image sensor; mobile robot; omnidirectional image sensor HyperOmniVision; optical flows; robust estimation; rolling motion estimation; Image motion analysis; Image sensors; Mirrors; Mobile robots; Motion estimation; Navigation; Optical devices; Optical sensors; Real time systems; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location
Vienna
ISSN
1051-4651
Print_ISBN
0-8186-7282-X
Type
conf
DOI
10.1109/ICPR.1996.546163
Filename
546163
Link To Document