Title :
Wide angle vision sensor with fovea-navigation of mobile robot based on cooperation between central vision and peripheral vision
Author :
Shimizu, Sohta ; Kato, Toshihiko ; Ocmula, Yass ; Suematu, Ryoichi
Author_Institution :
Dept. of Appl. Comput. Eng., Tokai Univ., Kanagawa, Japan
Abstract :
Presents the wide angle foveated vision sensor (WAFVS) system with a special optical lens, designed by mimicking a human eye, and flexible parallel processing function, examined and advanced by the author. The WAFVS system is applied to navigation of an autonomous mobile robot. As a rational execution of the system, the authors have carried out experiments of obstacle avoidance. 3D information for obstacle avoidance and locational information of the mobile robot are acquired from central vision with high accuracy and peripheral vision with less pixels, respectively Cooperation between them has improved quality of navigation
Keywords :
CCD image sensors; mobile robots; path planning; robot vision; 3D information; autonomous mobile robot; central vision; flexible parallel processing function; locational information; navigation; obstacle avoidance; optical lens; peripheral vision; wide angle foveated vision sensor; Cameras; Charge coupled devices; Humans; Lenses; Machine vision; Mobile robots; Navigation; Optical sensors; Robot vision systems; Sensor systems;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976261
