Using trinocular vision to build a real-time world model

Author

Lumia, R. ; Starr, G.P. ; Wood, J.E.

Author_Institution

Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA

Volume

5

fYear

2000

fDate

2000

Firstpage

3265

Abstract

The Department of Energy (DOE) in the USA, in its effort to clean up and shut down many of its radioactive facilities, would like to use robots to enhance efficiency and limit worker exposure to hazardous substances. Unlike industry, where the work environment is designed to facilitate robots, the DOE applications often have unknown, unstructured work areas. The paper describes an approach to use a trinocular image processing system to build a real time, simple representation of the objects in the workspace. This representation is needed for safe navigation as well as for manipulation of the objects in the workspace

Keywords

active vision; mobile robots; nuclear facility decommissioning; nuclear power stations; real-time systems; robot vision; DOE applications; Department of Energy; USA; hazardous substances; object manipulation; radioactive facilities; real time simple representation; real time world model; robots; safe navigation; trinocular image processing system; trinocular vision; unstructured work areas; work environment; worker exposure; workspace; Cameras; Image motion analysis; Image processing; Optical filters; Real time systems; Robot vision systems; Service robots; Stereo vision; US Department of Energy; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 2000 IEEE International Conference on

Conference_Location

Nashville, TN

ISSN

1062-922X

Print_ISBN

0-7803-6583-6

Type

conf

DOI

10.1109/ICSMC.2000.886508

Filename

886508