Title :
Acquiring 3D structure by controlling visual attention of a mobile robot
Author :
Ishiguro, Hiroshi ; Stelmaszyk, Patrick ; Tsuji, Saburo
Author_Institution :
Dept. of Control Eng., Osaka Iniv., Japan
Abstract :
A monocular vision sensor on a mobile robot for finding and tracking a feature point in 3D space while it moves along a route is described. Visual feedback is used to fix the feature point, called the fixation point, at the image center. The precise information of the camera angular velocity is used for estimating 3D structure around the fixation point to build a local map. Mathematical equations for linear and circular robot motions are given. Experimental results show the validity of this method
Keywords :
computer vision; mobile robots; 3D structure acquisition; camera angular velocity; circular motion; feature point finding; feature point location; feature point tracking; fixation point; linear motion; mobile robot; monocular vision sensor; visual attention control; visual feedback; Cameras; Control engineering; Feedback; Humans; Layout; Mobile robots; Robot kinematics; Robot motion; Robot sensing systems; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126077
