MAP-BASED NAVIGATION FOR A MOBILE ROBOT WITH OMNIDIRECTIONAL IMAGE SENSOR COPIS

被引：88
|
作者：
YAGI, Y [1 ]
NISHIZAWA, Y [1 ]
YACHIDA, M [1 ]
机构：
[1] OSAKA UNIV,FAC ENGN SCI,DEPT INFORMAT & COMP SCI,TOYONAKA,OSAKA 560,JAPAN
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 05期
关键词：
D O I：
10.1109/70.466602
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We designed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) to guide the navigation of a mobile robot. The feature of COPIS is passive sensing of the omnidirectional image of the environment, in real-time (at the frame rate of a TV camera), using a conic mirror. COPIS is a suitable sensor for visual navigation in a real world environment. We report here a method for navigating a robot by detecting the azimuth of each object in the omnidirectional image. The azimuth is matched with the given environmental map. The robot can precisely estimate its own location and motion (the velocity of the robot) because COPIS observes a 360 degrees view around the robot, even when all edges are not extracted correctly from the omnidirectional image. The robot can avoid colliding against unknown obstacles and estimate locations by detecting azimuth changes, while moving about in the environment. Under the assumption of the known motion of the robot, an environmental map of an indoor scene is generated by monitoring azimuth change in the image.
引用
收藏
页码：634 / 648
页数：15
相关论文
共 50 条
  • [1] GUIDANCE OF A MOBILE ROBOT WITH ENVIRONMENTAL MAP USING OMNIDIRECTIONAL IMAGE SENSOR COPIS
    YAGI, Y
    NISHIZAWA, Y
    YACHIDA, M
    IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, 1993, E76D (04) : 486 - 493
  • [2] The integration of an environmental map observed by multiple mobile robots with omnidirectional image sensor COPIS
    Yagi, Y
    Izuhara, S
    Yachida, M
    IROS 96 - PROCEEDINGS OF THE 1996 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - ROBOTIC INTELLIGENCE INTERACTING WITH DYNAMIC WORLDS, VOLS 1-3, 1996, : 640 - 647
  • [3] Real-time omnidirectional image sensor for mobile robot navigation
    Yagi, Y
    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2002, : 702 - 708
  • [4] REAL-TIME OMNIDIRECTIONAL IMAGE SENSOR (COPIS) FOR VISION-GUIDED NAVIGATION
    YAGI, Y
    KAWATO, S
    TSUJI, S
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1994, 10 (01): : 11 - 22
  • [5] Deep Reinforcement Learning of Map-Based Obstacle Avoidance for Mobile Robot Navigation
    Chen G.
    Pan L.
    Chen Y.
    Xu P.
    Wang Z.
    Wu P.
    Ji J.
    Chen X.
    SN Computer Science, 2021, 2 (6)
  • [6] Accurate map-based indoor navigation on the mobile
    Link, Jo Agila Bitsch
    Smith, Paul
    Viol, Nicolai
    Wehrle, Klaus
    JOURNAL OF LOCATION BASED SERVICES, 2013, 7 (01) : 23 - 43
  • [7] Mobile robot navigation by wall following using polar coordinate image from omnidirectional image sensor
    Joochim, Tanai
    Chamnongthai, Kosin
    IEICE Transactions on Information and Systems, 2002, E85-D (01) : 264 - 274
  • [8] Mobile robot navigation by wall following using polar coordinate image from omnidirectional image sensor
    Joochim, T
    Chamnongthai, K
    IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, 2002, E85D (01): : 264 - 274
  • [9] Omnidirectional Vision for Mobile Robot Navigation
    Taha, Zahari
    Chew, Jouh Yeong
    Yap, Hwa Jen
    JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS, 2010, 14 (01) : 55 - 62
  • [10] Effects of Mirrors in Mobile Robot Navigation Based on Omnidirectional Vision
    Abadi, Mohammad Hossein Bamorovat
    Oskoei, Mohammadreza Asghari
    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT III, 2015, 9246 : 37 - 48
12345