Stabilization for mobile robot by using omnidirectional optical flow

Author

Yagi, Yasushi ; Nishii, Wataru ; Yamazawa, Kazumasa ; Yachida, Masahiko

Author_Institution

Fac. of Eng. Sci., Osaka Univ., Japan

Volume

2

fYear

1996

fDate

4-8 Nov 1996

Firstpage

618

Abstract

Described here is a method for estimating rolling and swaying motions 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 HyperOmni Vision. 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 circumferential component of optical flow has a symmetric characteristic. The proposed method makes use of these characteristics to estimate robustly the rolling and swaying motions of the robot

Keywords

image sensors; image sequences; mirrors; mobile robots; motion estimation; navigation; robot vision; stability; HyperOmni Vision; hyperboloidal mirror; image sensor; mobile robot; omnidirectional optical flow; periodic characteristic; rolling motions; swaying motions; vision based navigation; 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

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.570864

Filename

570864