Omnidirectional Vision System Research Articles

全方位視覚システムの最適設計

全方位視覚システムの最適設計

TRACKIES: RoboCup-97 Middle-Size League World Cochampion

This article describes a milestone in our research efforts toward the real robot competition in RoboCup. We participated in the middle-size league at RoboCup-97, held in conjunction with the Fifteenth International Joint Conference on Artificial Intelligence in Nagoya, Japan. The most significant features of our team, TRACKIES, are the application of a reinforcement learning method enhanced for real robot applications and the use of an omnidirectional vision system for our goalie that can capture a 360-degree view at any instant in time. The method and the system used are shown with competition results.

Control of a Mobile Vehicle into a Production Workshop

This study describes a set of methods used to control and guide an autonomous vehicle within a production workshop. Data acquisition onto the environment inside the vehicle moves is realised with an omnidirectional vision system. It is composed of a conic mirror and a CCD camera. With it, targets are localised and their orientation computed into a mobile frame attached to the vehicle. Using thre targets points, the position of the vehicle into the production workshop could be computed and the control of its movements realised. The methods used are derived from navigation techniques. They are compared and the precision of location of the vehicle is studied in different cases.

HyperOmni vision: Visual navigation with an omnidirectional image sensor

For robot navigation, we need sensor information as to the condition of the environment around the robot. In this paper, we describe an omnidirectional vision system (HyperOmni Vision) using a hyperboloidal mirror and describe its distinctive features, together with a visual navigation method using HyperOmni Vision. In existing omnidirectional vision systems, since the optical system does not use center projection, an independent method of acquiring the visual information is required. However, since the omnidirectional vision system using a hyperboloidal mirror has an omnidirectional visual field and the optical characteristic of center projections, its images can be transformed into images taken directly with an ordinary camera. For this reason, it can produce images suitable for processing, and not only independent techniques, but also conventional image processing technology can be utilized. We will report here the configuration, distinctive features, and characteristics of the optical system of HyperOmni Vision and describe a mobile robot using HyperOmni Vision and its techniques of movement estimation and obstacle detection by template matching. © 1997 Scripta Technica, Inc. Syst Comp Jpn, 28(4): 36–47, 1997

HyperOmni vision: Visual navigation with an omnidirectional image sensor

For robot navigation, we need sensor information as to the condition of the environment around the robot. In this paper, we describe an omnidirectional vision system (HyperOmni Vision) using a hyperboloidal mirror and describe its distinctive features, together with a visual navigation method using HyperOmni Vision. In existing omnidirectional vision systems, since the optical system does not use center projection, an independent method of acquiring the visual information is required. However, since the omnidirectional vision system using a hyperboloidal mirror has an omnidirectional visual field and the optical characteristic of center projections, its images can be transformed into images taken directly with an ordinary camera. For this reason, it can produce images suitable for processing, and not only independent techniques, but also conventional image processing technology can be utilized. We will report here the configuration, distinctive features, and characteristics of the optical system of HyperOmni Vision and describe a mobile robot using HyperOmni Vision and its techniques of movement estimation and obstacle detection by template matching. © 1997 Scripta Technica, Inc. Syst Comp Jpn, 28(4): 36–47, 1997

Dynamic omnidirectional vision for mobile robots

AbstractMobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach—dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.