Title :
Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision
Author :
Yagi, Yasushi ; Nishii, Wataru ; Yamazawa, Kazumasa ; Yachida, Masahiko
Author_Institution :
Fac. of Eng. Sci., Osaka Univ., Japan
Abstract :
Described here is a method for estimating a rolling motion of a mobile robot from optical flows. We have proposed an image sensor with a hyperboloidal mirror for vision based navigation of the mobile robot. Its name is HyperOmniVision. This sensing system can acquire an omnidirectional view around the robot, in real-time, with use of the hyperboloidal mirror. The radial component of optical flow in HyperOmniVision has a periodic characteristic. The proposed method makes use of this characteristic to estimate robustly the rolling motion of the robot
Keywords :
image sensors; mobile robots; motion estimation; robot vision; hyperboloidal mirror; image sensor; mobile robot; omnidirectional image sensor HyperOmniVision; optical flows; robust estimation; rolling motion estimation; Image motion analysis; Image sensors; Mirrors; Mobile robots; Motion estimation; Navigation; Optical devices; Optical sensors; Real time systems; Robot sensing systems;
Conference_Titel :
Pattern Recognition, 1996., Proceedings of the 13th International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-8186-7282-X
DOI :
10.1109/ICPR.1996.546163
