Estimating location and avoiding collision against unknown obstacles for the mobile robot using omnidirectional image sensor COPIS

Author

Yagi, Yasushi ; Nishizawa, Yoshimitsu ; Yachida, Masahiko

Author_Institution

Dept. of Inf. & Comput. Sci., Osaka Univ., Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

909

Abstract

Proposes a new omnidirectional image sensor, COPIS (conic projection image sensor), for guiding navigation of a mobile robot. It features passive sensing of omnidirectional images 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 real world environment with moving objects. The paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. It also presents a method to avoid collision against unknown obstacles and estimates their locations by detecting their azimuth changes while the robot is moving in the environment

Keywords

computer vision; image sensors; mobile robots; navigation; COPIS; collision avoidance; conic mirror; conic projection image sensor; machine vision; mobile robot; navigation; obstacle avoidance; omnidirectional image sensor; Azimuth; Cameras; Image sensors; Mirrors; Mobile robots; Motion estimation; Navigation; Robot sensing systems; Robot vision systems; TV;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174602

Filename

174602