Local Environment Recognition System Using Modified SURF-Based 3D Panoramic Environment Map for Obstacle Avoidance of a Humanoid Robot

Kang, Tae-Koo; Choi, In Hwan; Park, Gwi Tae; Lim, Myo Taeg

doi:10.5772/56552

Cited by 6 publications

(6 citation statements)

References 15 publications

(23 reference statements)

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“…Quick response (QR) codes are two-dimensional codes that allow the representation of more data than linear barcodes. For instance, a QR code with information about its own position and the position of nearby landmarks is used in [197], while in [109], two-dimensional barcodes encode their absolute position.…”

Section: Where Are Camera-fitted Mobile Robots Used?mentioning

confidence: 99%

See 1 more Smart Citation

A Taxonomy of Vision Systems for Ground Mobile Robots

Gómez

Fernández-Caballero

García-Varea

et al. 2014

International Journal of Advanced Robotic Systems

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This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject. Firstly, a thorough review of the papers is proposed to discuss and classify both past and the most current approaches in the field. As a result, a global picture of the state of the art of the last five years is obtained. Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics. In this sense, the paper aims at being especially helpful to both budding and experienced researchers in the areas of vision systems and mobile ground robots. The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where? The answers are derived from the most relevant techniques described in the recent literature, leading in a natural way to a series of classifications that are discussed and contextualized. The article offers a global picture of the state of the art in the area and discovers some promising research lines.

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Section: Where Are Camera-fitted Mobile Robots Used?mentioning

confidence: 99%

“…The work presented in [109] addresses a local environment recognition system for obstacle avoidance. In vision systems, obstacles that are located beyond the field of view (FOV) cannot be detected accurately.…”

Section: Trajectory Estimationmentioning

confidence: 99%

A Taxonomy of Vision Systems for Ground Mobile Robots

Gómez

Fernández-Caballero

García-Varea

et al. 2014

International Journal of Advanced Robotic Systems

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“…Panoramic stereo imaging is based on the theory of circular projection, which can generate panoramas for both left and right eyes and realize both complete panoramic view and stereo vision simultaneously [1][2][3][4]. That is to say, viewing panoramic stereo image could make people view in stereo and in 360 degree [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

A setup for panoramic stereo imaging

Zhang

Hou

Wang

et al. 2015

Multimed Tools Appl

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In this paper, based on the proposed basic implementation of circular projection, a multi-camera setup which can be used for panoramic stereo imaging is presented. Firstly, we get multiple stereo pairs instantly by fixing multiple cameras on the proposed setup, which is an approximate implementation of circular projection. We then prove that the influence on the resultant stereo pairs generated by this approximate setup is slight based on similar triangles and structural similarity (SSIM). With these stereo pairs, the automatic panoramic image stitching algorithm is applied to generate panoramas for both eyes. In addition, with reasonable distance between cameras and the scene, physical dimensions of this setup are given. Finally, experimental results demonstrate that our scheme can be used to generate cylindrical stereo panoramic image with proper scene depth, which can provide viewers with distinguishing stereoscopic experience. The device can be installed on the mobile equipment and captures panoramic stereo image in a moment without stopping. In the future, the proposed setup can be used in the field of network navigation, video monitor and virtual reality.

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“…Furthermore, when a system of multiple robots is considered, control and coordination are complex and demanding tasks. According to [16], vision systems for mobile agents, can be classified in six types, sensing and perception [31,23,9,17,7], mapping and self-localization [22,2,4], recognition and location [5,28,29,30,14], navigation and planning [13,20], tracking [21,19,1] and visual servoing [25,11,27].…”

Section: Introductionmentioning

confidence: 99%

Vision System for the Navigation of a Mobile Robot

González

Sánchez

Díaz

et al. 2018

CyS

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In this paper the development of an object detection system in a controlled two-dimensional space using computer vision techniques is presented. The detected objects have a rigid geometry and are exposed to real light; therefore, the system is robust to changes in lighting and shading. In order to handle the large amount of data to be processed in real time, a MyRIO device which contains an FPGA is used. This device allows communication with the LabVIEW software where the user interface resides. Using LabVIEW a tracking by color algorithm is implemented, in order to attend to a reactive agent, which uses an infrared sensor to detect the distance to an obstacle and perform the functions of foraging and storage. In order to improve performance, a supervisory system was implemented using a Kinect device that provides information relative to the position of the objects in the test area. This information allows eliminating occlusion problems.

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Local Environment Recognition System Using Modified SURF-Based 3D Panoramic Environment Map for Obstacle Avoidance of a Humanoid Robot

Cited by 6 publications

References 15 publications

A Taxonomy of Vision Systems for Ground Mobile Robots

A Taxonomy of Vision Systems for Ground Mobile Robots

A setup for panoramic stereo imaging

Vision System for the Navigation of a Mobile Robot

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