We have proposed a new omnidirectional image sensor COPIS (Conic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature is passive sensing of the omnidirectional image 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. This 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. In this method, the azimuth is matched with the given environmental map. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.
We have proposed a new omnidirectional image sensor COPIS (Conic Projection Image Sensor) using a conic minor for guiding navigation of a mobile robot. The azimuth of each point in the scene appears in the image as its direction from the image center. Under the assumption of known motion of the robot, locations of object's edge points around the robot can be estimated by detecting their azimuth changes in the image.In this paper we describe a method of estimating free space for the mobile robot. After estimating the location of edge points, we detect the object surface. Both sides of edges of the object surface are contiguous in the image, and have an invariant relation with the robot motion. Against them, in case of the comdor, another edges appear between contiguous edges by moving the robot Thus, using these relations, we can detect object surfaces, and estimate the free space. The free space region are updated while the robot moving in the environment.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.