Robot navigation using panoramic tracking

Fiala, Mark A.; Basu, Anup

doi:10.1016/j.patcog.2004.02.017

Cited by 41 publications

(18 citation statements)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Panoramic and omnidirectional cameras have been used in robot navigation for some time [4] [7][10] and there is evidence that panoramic processing is used in some kinds of insect navigation [5]. We can consider the terrain spatiogram in cylindrical coordinates to be analogous to an omnidirectional camera image but with camera normal facing in -towards the object -rather than out -towards the environment.…”

Section: A Clusteringmentioning

confidence: 99%

Sharing landmark information using mixture of Gaussian terrain spatiograms

Lyons

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-In this paper we evaluate the use of a novel spatial histogram called the terrain spatiogram as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms.A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity measure defined. Two methods to generate a MOG terrain spatiogram are presented and compared experimentally using indoor and outdoor landmark information transferred between two different models of robot equipped with differently configured stereocameras.

show abstract

Section: A Clusteringmentioning

confidence: 99%

Sharing landmark information using mixture of Gaussian terrain spatiograms

Lyons

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…Mobile robots provide an essential tool when investigating the interaction of cognitive architectures and the physical environment. Robots have been used to investigate many different aspects of artificial intelligence such as mapping and localization techniques [15,16] , robot perception [17] and robot learning [18,19] . The reported research builds on the previous use of a mobile robot to investigate a specific area of cognitive science known as the anchoring problem [20] .…”

Section: Cognitive Architectures and Robotsmentioning

confidence: 99%

Probabilistic BDI in a Cognitive Robot Architecture

Davis

Miri

2012

IJCSAI

View full text Add to dashboard Cite

Abstract-The probabilistic approach to cognition has become an established approach in recent decades. Cognition is better viewed as solving probabilistic, rather than logical, inference problems; i.e. cognition is better understood in terms of probability theory, rather than in terms of logic. This article presents a cognitive architecture used to govern a robot probabilistically. The design and implementation of cognitive architectures is a useful tool for understanding cognition in a situated agent. The Cerno research project extended the CAMAL (Computational Architectures for Motivation, Affect, and Learning) model, by incorporating probabilistic reasoning in its BDI model. Subsequent development of CAMAL has integrated all the valanced affective predicates across the architecture. Extensive experiments with synthetic and real robots demonstrate an improvement in the overall performance, success rate, task effectiveness, and goal achievement of the cognitive architecture.

show abstract

“…∘ field of view are widely used in many vision applications, such as aerial photographic reconnaissance, intelligent transportation system, robot navigation, surveillance, medical applications, and video conferencing [1][2][3][4][5]. The problem of catadioptric omnidirectional imaging defocus blur, which is caused by lens aperture and mirror curvature, becomes more severe when high resolution sensors and large apertures are used.…”

Section: Introductionmentioning

confidence: 99%

Omnigradient Based Total Variation Minimization for Enhanced Defocus Deblurring of Omnidirectional Images

Lou

2014

International Journal of Optics

View full text Add to dashboard Cite

We propose a new method of image restoration for catadioptric defocus blur using omnitotal variation (Omni-TV) minimization based on omnigradient. Catadioptric omnidirectional imaging systems usually consist of conventional cameras and curved mirrors for capturing 360 ∘ field of view. The problem of catadioptric omnidirectional imaging defocus blur, which is caused by lens aperture and mirror curvature, becomes more severe when high resolution sensors and large apertures are used. In an omnidirectional image, two points near each other may not be close to one another in the 3D scene. Traditional gradient computation cannot be directly applied to omnidirectional image processing. Thus, omnigradient computing method combined with the characteristics of catadioptric omnidirectional imaging is proposed. Following this Omni-TV minimization is used as the constraint for deconvolution regularization, leading to the restoration of defocus blur in an omnidirectional image to obtain all sharp omnidirectional images. The proposed method is important for improving catadioptric omnidirectional imaging quality and promoting applications in related fields like omnidirectional video and image processing.

show abstract

Robot navigation using panoramic tracking

Cited by 41 publications

References 34 publications

Sharing landmark information using mixture of Gaussian terrain spatiograms

Sharing landmark information using mixture of Gaussian terrain spatiograms

Probabilistic BDI in a Cognitive Robot Architecture

Omnigradient Based Total Variation Minimization for Enhanced Defocus Deblurring of Omnidirectional Images

Contact Info

Product

Resources

About