Title :
A real time detection algorithm for direction error in omnidirectional image sensors for mobile robots
Author :
Kim, Dong Sung ; Kim, Young Shin ; Wook Hyun Kwon
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Abstract :
An algorithm for the real time detection of the direction error in the heading of a mobile robot is proposed. The proposed algorithm is designed for an omnidirectional image sensor. For the omnidirectional image sensor, a hemispherical mirror, one CCD camera, and a vision board are used. This configuration has low cost and efficiency in collecting omnidirectional data with one image compared with other types of image sensors. The proposed algorithm is verified through computer simulations and a practical mobile robot
Keywords :
CCD image sensors; error detection; filtering theory; mobile robots; path planning; robot vision; CCD camera; direction error; hemispherical mirror; omnidirectional image sensors; real time detection algorithm; vision board; Algorithm design and analysis; Cameras; Charge coupled devices; Charge-coupled image sensors; Costs; Detection algorithms; Image sensors; Mirrors; Mobile robots; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774050
