A real time detection algorithm for direction error in omnidirectional image sensors for mobile robots

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 config...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 4; pp. 2982 - 2987 vol.4
Main Authors Kim, Dong Sung, Kim, Young Shin, Kwon, Wook Hyun
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 1999
Subjects
Algorithm design and analysis
Cameras
Charge coupled devices
Charge-coupled image sensors
Costs
Detection algorithms
Image sensors
Mirrors
Mobile robots
Robot vision systems
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ISBN9780780351806
0780351800
ISSN1050-4729
DOI10.1109/ROBOT.1999.774050

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Summary: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.
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ISBN:9780780351806
0780351800
ISSN:1050-4729
DOI:10.1109/ROBOT.1999.774050