Title :
Real-time omnidirectional image sensor (COPIS) for vision-guided navigation
Author :
Yagi, Yasushi ; Kawato, Shinjiro ; Tsuji, Saburo
Author_Institution :
Dept. of Syst. Eng., Osaka Univ., Japan
fDate :
2/1/1994 12:00:00 AM
Abstract :
Describes 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
Keywords :
computer vision; computerised navigation; image sensors; mobile robots; path planning; COPIS; azimuth changes; collision avoidance; collision paths; conic mirror; conic projection image sensor; constant linear motion; mobile robot; real-time omnidirectional image sensor; vision-guided navigation; Azimuth; Image sensors; Mirrors; Mobile robots; Monitoring; Motion detection; Navigation; Object detection; Real time systems; Robot sensing systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
