Rolling motion estimation for mobile robot by using omnidirectional image sensor HyperOmniVision

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 t...

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Bibliographic Details
Published inProceedings of 13th International Conference on Pattern Recognition Vol. 1; pp. 946 - 950 vol.1
Main Authors Yagi, Y., Nishii, W., Yamazawa, K., Yachida, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Image motion analysis
Image sensors
Mirrors
Mobile robots
Motion estimation
Navigation
Optical devices
Optical sensors
Real time systems
Robot sensing systems
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Summary: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.
ISBN:9780818672828
081867282X
ISSN:1051-4651
2831-7475
DOI:10.1109/ICPR.1996.546163