Proceedings ArticleDOI
A mobile robot using a panoramic view
Claude Pegard,El Mustapha Mouaddib +1 more
- Vol. 1, pp 89-94
TLDR
An optical omnidirectional sensor which can give, with an adapted software, an absolute localization and the matching algorithm allowing a local observed scene to be replaced in the global navigation area is presented.Abstract:
Mobile robots use actually a combination of internal and external sensors to determine their position and orientation in a path following period. Incremental encoders, gyrometers are generally used to give an approximative estimation of localization. Nevertheless, the cumulative drifts of these internal sensors must be periodically corrected with an exteroceptive sensor. So, the authors present, in this paper, an optical omnidirectional sensor which can give, with an adapted software, an absolute localization. This sensor is made of a CCD video camera associated with a conic shaped reflector; so, a view of a 2 /spl pi/ radian field is available to compute the position of the robot. The authors report the matching algorithm allowing a local observed scene to be replaced in the global navigation area. The authors conduct the accuracy analysis of this global positioning system, and present the experimental results.read more
Citations
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Book
Camera Models And Fundamental Concepts Used In Geometric Computer Vision
TL;DR: This survey gives an overview of image acquisition methods used in computer vision and especially, of the vast number of camera models that have been proposed and investigated over the years, where it tries to point out similarities between different models.
Journal Article
Omnidirectional Sensing and Its Applications
TL;DR: The goal of this paper is to present a critical survey of existing literature on an omnidirectional sensing, and their applications in fields of autonomous robot navigation, telepresence, remote surveillance and virtual reality.
Proceedings ArticleDOI
Catadioptric sensors that approximate wide-angle perspective projections
R.A. Hicks,Ruzena Bajcsy +1 more
TL;DR: Two families of reflective surfaces are presented that are capable of providing a wide field of view, and yet still approximate a perspective projection to a high degree, allowing for a wide-angle perspective view of a scene without processing the image in software.
Journal ArticleDOI
Reflective surfaces as computational sensors
R.A. Hicks,Ruzena Bajcsy +1 more
TL;DR: A family of reflective surfaces that will provide a wide field of view while preserving the geometry of a plane perpendicular to their axis of symmetry are presented, which could be potentially useful in mobile robotics with applications such as control and range estimation.
Journal ArticleDOI
2-D localization and identification based on SAW ID-tags at 2.5 GHz
T.F. Bechteler,Hüsnü Yenigün +1 more
TL;DR: In this article, an identification and localization system based on surface acoustic wave (SAW) radio sensors is presented, which is able to identify and localize objects within a two-dimensional area.
References
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S. Aitya,Gregory D. Hager +1 more
TL;DR: An algorithm for robot localization using visual landmarks is described, which determines both the correspondence between observed landmarks and a preloaded map, and the location of the robot from those correspondences.
Journal ArticleDOI
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P. Kahn,L. Kitchen,E.M. Riseman +2 more
TL;DR: A fast pixel-based algorithm is developed that uses careful code optimization and selective processing to achieve fast extraction of lines for use in vision-guided mobile robot navigation.