MAP-BASED NAVIGATION FOR A MOBILE ROBOT WITH OMNIDIRECTIONAL IMAGE SENSOR COPIS

被引：88
|
作者：
YAGI, Y [1 ]
NISHIZAWA, Y [1 ]
YACHIDA, M [1 ]
机构：
[1] OSAKA UNIV,FAC ENGN SCI,DEPT INFORMAT & COMP SCI,TOYONAKA,OSAKA 560,JAPAN
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 05期
关键词：
D O I：
10.1109/70.466602
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We designed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) to guide the navigation of a mobile robot. The feature of COPIS 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 a real world environment. We report here a method for navigating a robot by detecting the azimuth of each object in the omnidirectional image. The azimuth is matched with the given environmental map. The robot can precisely estimate its own location and motion (the velocity of the robot) because COPIS observes a 360 degrees view around the robot, even when all edges are not extracted correctly from the omnidirectional image. The robot can avoid colliding against unknown obstacles and estimate locations by detecting azimuth changes, while moving about in the environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring azimuth change in the image.
引用
收藏
页码：634 / 648
页数：15
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