DocumentCode
2913183
Title
A real time detection algorithm for direction error in omnidirectional image sensors for mobile robots
Author
Kim, Dong Sung ; Kim, Young Shin ; Wook Hyun Kwon
Author_Institution
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
Volume
4
fYear
1999
fDate
1999
Firstpage
2982
Abstract
An algorithm for the real time detection of the direction error in the heading of a mobile robot is proposed. The proposed algorithm is designed for an omnidirectional image sensor. For the omnidirectional image sensor, a hemispherical mirror, one CCD camera, and a vision board are used. This configuration has low cost and efficiency in collecting omnidirectional data with one image compared with other types of image sensors. The proposed algorithm is verified through computer simulations and a practical mobile robot
Keywords
CCD image sensors; error detection; filtering theory; mobile robots; path planning; robot vision; CCD camera; direction error; hemispherical mirror; omnidirectional image sensors; real time detection algorithm; vision board; Algorithm design and analysis; Cameras; Charge coupled devices; Charge-coupled image sensors; Costs; Detection algorithms; Image sensors; Mirrors; Mobile robots; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.774050
Filename
774050
Link To Document