Title :
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
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;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886508
