Evaluating effectivity of map generation by tracking vertical edges in omnidirectional image sequence

Proceedings of 1995 IEEE International Conference on Robotics and Automation Pub Date : 1995-05-21 DOI:10.1109/ROBOT.1995.525609

Y. Yagi, Kazuya Sato, M. Yachida

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引用次数: 7

Abstract

We designed a new omnidirectional image sensor, called COPIS (Conic Projection Image Sensor), to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time, using a conic mirror. COPIS is a suitable sensor for visual navigation in a real environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring the azimuth change in the image. We did several experiments in the simple indoor environment. The precision of the obtained environmental maps was sufficient for robot navigation in such environment. In these experiments, to examine the potential of COPIS against the effects of observational errors in real-time navigation, we simplified the image processing method and the experimental environment. In this paper, we improve the image processing method for extracting and tracking vertical edges, taking care of the reliability, and also evaluate the effectiveness of COPIS in a real indoor and outdoor environment.

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评价全向图像序列中垂直边缘跟踪生成地图的有效性

我们设计了一种新的全向图像传感器，称为COPIS(圆锥投影图像传感器)，用于指导移动机器人的导航。COPIS的特点是被动感知环境的全方位图像，实时，使用圆锥镜。COPIS是一种适用于真实环境中视觉导航的传感器。在已知机器人运动的前提下，通过监测图像的方位变化，生成室内场景的环境地图。我们在简单的室内环境中做了几个实验。得到的环境地图精度足以满足机器人在这种环境下的导航。在这些实验中，为了检验COPIS对实时导航中观测误差影响的潜力，我们简化了图像处理方法和实验环境。本文改进了垂直边缘提取和跟踪的图像处理方法，兼顾了可靠性，并对COPIS在室内和室外真实环境下的有效性进行了评价。

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Proceedings of 1995 IEEE International Conference on Robotics and Automation

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