{"title":"Estimating location and avoiding collision against unknown obstacles for the mobile robot using omnidirectional image sensor COPIS","authors":"Y. Yagi, Y. Nishizawa, M. Yachida","doi":"10.1109/IROS.1991.174602","DOIUrl":null,"url":null,"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.<<ETX>>","PeriodicalId":388962,"journal":{"name":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1991.174602","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
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.<>
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