REAL-TIME OMNIDIRECTIONAL IMAGE SENSOR (COPIS) FOR VISION-GUIDED NAVIGATION

被引：126
|
作者：
YAGI, Y [1 ]
KAWATO, S [1 ]
TSUJI, S [1 ]
机构：
[1] MITSUBISHI ELECTR CORP,IND ELECTR & SYST DEV LAB,AMAGASAKI,HYOGO 661,JAPAN
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 01期
关键词：
D O I：
10.1109/70.285581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Described here is a conic projection image sensor (COPIS) and its application: navigating a mobile robot in a manner that avoids collisions with objects approaching from any direction. The COPIS system acquires an omnidirectional view around the robot, in real-time, with use of a conic mirror. Based on the assumption of constant linear motion of the robot and objects, the objects moving along collision paths are detected by monitoring azimuth changes. Confronted with such objects, the robot changes velocity to avoid collision and determines locations and velocities.
引用
收藏
页码：11 / 22
页数：12
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