Title :
Vision-based pirouettes using radial obstacle profile
Author :
Taylor, Trevor ; Geva, Shlomo ; Boles, Wageeh
Author_Institution :
Sch. of Inf. Syst., Queensland Univ. of Technol., Brisbane, Qld., Australia
Abstract :
Mapping algorithms commonly use "radial sweeps" of the surrounding environment as input. Producing a sweep is a challenging task for a robot using only vision. With no odometers to measure turn angles, a vision-based robot must have another method to verify rotations. In this paper we propose using the radial obstacle profile (ROP), which gives the radial distance to the nearest obstacle in any direction in the robot\´s field of view. By matching the ROPs before and after a turn, the robot should be able to verify that the expected angle of rotation matches the actual angle. Combining successive ROPs then produces a radial sweep.
Keywords :
collision avoidance; mobile robots; robot vision; mapping algorithm; radial obstacle profile; radial sweeps; vision based pirouettes; vision-based robot; Acoustic sensors; Australia; Cameras; Mobile robots; Robot sensing systems; Robot vision systems; Rotation measurement; Simultaneous localization and mapping; Sonar measurements; Tracking;
Conference_Titel :
Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Print_ISBN :
0-7803-8645-0
DOI :
10.1109/RAMECH.2004.1438907