Title :
An omnidirectional vision sensor for fast tracking for mobile robots
Author :
Bonarini, Andrea ; Aliverti, Paolo ; Lucioni, Michele
Author_Institution :
Dipt. di Elettronica e Inf., Politecnico di Milano, Italy
fDate :
6/1/2000 12:00:00 AM
Abstract :
We present an omnidirectional vision system we have implemented to provide our mobile robot Rullit with a fast tracking capability. Rullit has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures
Keywords :
mobile robots; optimisation; robot vision; tracking; 20 Hz; Robocup; Rullit; autonomous agents; camera; fast tracking; focused multi-level procedures; image processing; interpretation; mirror; mobile robots; multi-shaped mirror; omnidirectional vision sensor; opportunistic procedures; optimisation; resolution; semi-structured environment; soccer field; Cameras; Image processing; Image recognition; Image resolution; Machine vision; Mirrors; Mobile robots; Navigation; Robot sensing systems; Robot vision systems;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
