Real-time generation of environmental map and obstacle avoidanceusing omnidirectional image sensor with conic mirror
Yagi, Y.
Yachida, M.
Dept. of Inf. & Comput. Sci., Osaka Univ.;
Abstract
An omnidirectional image sensor COPIS (conic projection image
sensor) is proposed for guiding navigation of a mobile robot. It
features passive sensing of the omnidirectional environment in real-time
using a conic mirror. Because the conic mirror is used, its image is
under conic projection; where the azimuth of each point in the scene
appears in the image as its direction from the image center. The authors
describe COPIS and its application to guide the navigation of a mobile
robot. The COPIS system acquires an omnidirectional view around the
robot in real-time by using a conic mirror. Under the assumption of
constant motion of the robot, locations of objects around the robot can
be estimated by detecting their azimuth changes in the omnidirectional
image. Using this method, the robot generates an environmental map of an
indoor scene while it is moving in the environment. A method to avoid
collision against objects by detecting their azimuth changes is
presented
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