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Development of a forward-hemispherical vision sensor for acquisition of a panoramic integration map

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4 Author(s)
Eino, J. ; Waseda Univ., Shinjuku-ku ; Araki, M. ; Takiguchi, J. ; Hashizume, T.

The target of this research is to develop a common-use sensor which is useful for navigation and mission for rescue operation. By combined use of an ODV (omnidirectional vision) with a hemispherical forward-visual-field using a direct and reflection hybrid optical system, a RTK-GPS (real time kinematics-global positioning system) and a MEMS (micro electro mechanical systems) IMU (inertial measurement unit), this sensor outputs a realtime image for remote control of a mobile robot and a panoramic integration map, including information on three-dimensional own-position, with a continuous panoramic image for searching victims and for making a rescue plan. The evaluation of the panoramic integration map and the Kalman filter based self-positioning reveals that the proposed method is valid and effective

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004