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
Abstract :
We present an, omnidirectional vision system me have implemented to provide our mobile robot (Polyphemus“the one with only one eye) with a fast tracking capability. Polyphemus 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 vertical coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures
Keywords :
mirrors; mobile robots; optical tracking; optimisation; robot vision; 20 Hz; Polyphemus; Robocup; focused multi-level design; image processing; mobile robots; multishaped mirror; omnidirectional vision sensor; semistructured environment; tracking; vertical coverage; Cameras; Design optimization; Image resolution; Machine vision; Mirrors; Mobile robots; Robot sensing systems; Robot vision systems; Shape; Subspace constraints;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1999. IMTC/99. Proceedings of the 16th IEEE
Conference_Location :
Venice
Print_ISBN :
0-7803-5276-9
DOI :
10.1109/IMTC.1999.776737
