Guidance of a Mobile Robot with Environmental Map Using Omnidirectional Image Sensor COPIS

Yasushi YAGI; Yoshimitsu NISHIZAWA; Masahiko YACHIDA

Guidance of a Mobile Robot with Environmental Map Using Omnidirectional Image Sensor COPIS

Yasushi YAGI, Yoshimitsu NISHIZAWA, Masahiko YACHIDA

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We have proposed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature 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 real world environment with moving objects. This paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. In this method, the azimuth is matched with the given environmental map. The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot even if all edges are not extracted correctly from the omnidirectional image. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.

Publication: IEICE TRANSACTIONS on Information Vol.E76-D No.4 pp.486-493

Publication Date: 1993/04/25

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Type of Manuscript: Special Section PAPER (Special Issue on Image Processing and Understanding)

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Yasushi YAGI, Yoshimitsu NISHIZAWA, Masahiko YACHIDA, "Guidance of a Mobile Robot with Environmental Map Using Omnidirectional Image Sensor COPIS" in IEICE TRANSACTIONS on Information, vol. E76-D, no. 4, pp. 486-493, April 1993, doi: .
Abstract: We have proposed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature 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 real world environment with moving objects. This paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. In this method, the azimuth is matched with the given environmental map. The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot even if all edges are not extracted correctly from the omnidirectional image. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.
URL: https://globals.ieice.org/en_transactions/information/10.1587/e76-d_4_486/_p

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@ARTICLE{e76-d_4_486,
author={Yasushi YAGI, Yoshimitsu NISHIZAWA, Masahiko YACHIDA, },
journal={IEICE TRANSACTIONS on Information},
title={Guidance of a Mobile Robot with Environmental Map Using Omnidirectional Image Sensor COPIS},
year={1993},
volume={E76-D},
number={4},
pages={486-493},
abstract={We have proposed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature 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 real world environment with moving objects. This paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. In this method, the azimuth is matched with the given environmental map. The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot even if all edges are not extracted correctly from the omnidirectional image. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.},
keywords={},
doi={},
ISSN={},
month={April},}

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TY - JOUR
TI - Guidance of a Mobile Robot with Environmental Map Using Omnidirectional Image Sensor COPIS
T2 - IEICE TRANSACTIONS on Information
SP - 486
EP - 493
AU - Yasushi YAGI
AU - Yoshimitsu NISHIZAWA
AU - Masahiko YACHIDA
PY - 1993
DO -
JO - IEICE TRANSACTIONS on Information
SN -
VL - E76-D
IS - 4
JA - IEICE TRANSACTIONS on Information
Y1 - April 1993
AB - We have proposed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature 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 real world environment with moving objects. This paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. In this method, the azimuth is matched with the given environmental map. The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot even if all edges are not extracted correctly from the omnidirectional image. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.
ER -