Vision System For Mobile Robot Research Articles

1P1-M08 カメラ画像を用いたラジコンヘリの操縦支援システム(移動ロボットのための視覚)

1P1-M08 カメラ画像を用いたラジコンヘリの操縦支援システム(移動ロボットのための視覚)

1P1-M10 複数の走行者認識を行う屋外移動車ロボット(移動ロボットのための視覚)

1P1-M10 複数の走行者認識を行う屋外移動車ロボット(移動ロボットのための視覚)

1P1-L15 ステレオカメラを持つ移動ロボットによる屋外自己位置推定(移動ロボットのための視覚)

1P1-L15 ステレオカメラを持つ移動ロボットによる屋外自己位置推定(移動ロボットのための視覚)

1P1-M04 SURFによるアピアランスベースナビゲーション手法の実装とその有用性の評価(移動ロボットのための視覚)

1P1-M04 SURFによるアピアランスベースナビゲーション手法の実装とその有用性の評価(移動ロボットのための視覚)

A Stereo Vision Based Target Tracking and Obstacle Avoidance

Designing a visual tracking system to track an object is a complex task because a large amount of video data must be transmitted and processed in real time. In this study, a stereo vision system is used to acquire the 3D positions of the target, tracking can be achieved by applying the CAMSHIFT algorithm, then apply the fuzzy reasoning control to steer the mobile robot to follow the selected target and avoid the in-path obstacles. The adopted obstacle avoidance component is based on the Harris corner detection and the binocular stereo imaging, which performs the correspondence calculation. Therefore a depth map is created and showing the relative 3D distances of the detected substantial features to the robot, which provides the information of the in-path obstacles in front of the wheeled mobile robot. The designed visual tracking and servo system is less sensitive to lighting influences and thus performs more efficiently. Experimental results showed that the mobile robot vision system successfully finished the target-following task by avoiding obstacles.

A robust facial feature detection on mobile robot platform

Human face analysis on the mobile robot vision system should cope with difficult problems such as face pose variations, illumination changes, and complex backgrounds, in which problems are mainly induced from the movement of its platform. In this paper, in order to overcome such problems, an efficient facial feature detection approach based on local image region and direct pixel-intensity distributions is presented. We propose two novel concepts; the directional template for evaluating intensity distributions and the edge-like blob map image with multiple strength intensity. Using this blob map image, we show that the locations of major facial features—two eyes and a mouth—can be reliably estimated. Without the boundary information of facial area, final candidate face region is determined by both obtained locations of facial features and weighted correlations with stored facial templates.

A method of movement tracking based on the inertial plane

This study deals with the configuration of a vision system for mobile robots equipped with a single-lens camera. A new method of movement tracking is proposed using the concept of inertial reference plane. When implementing movement tracking by means of a single-lens camera, a number of problems remain to be solved, such as variation of the vision field caused by the robot's motion, uncertainty of space relations between robot and objects that occurs because depth data are lost, and so on. Herein we propose a method of movement tracking in which the robot's pose variation is detected using data from gyrosensors while the inertial reference plane is constantly maintained to track 3D movement of an object in a real environment in terms of its 2D projection onto the inertial place. The validity of the proposed method is proven by simulation. © 1999 Scripta Technica, Syst Comp Jpn, 30(6): 47–53, 1999

Uncertain robot environment modelling using fuzzy numbers

In this paper, we present a fuzzy-oriented methodology to model an uncertain geometric robot environment and to manipulate geometric uncertainties between robot coordinate frames. We describe any geometric primitive of robot environment as a parameter vector in parameter space. Not only ill-known values of the parameterized geometric primitives but the uncertain quantities of coordinate transformations are represented by means of fuzzy numbers restricted to appropriate membership functions. For consistent interpretation about geometric primitives between different coordinate frames, we manipulate these uncertain quantities using fuzzy arithmetic. As an application, we deal with a 2-dimensional straight line correspondence problem of a mobile robot vision system. This example shows the usefulness of the proposed methodology.

Vision estimation of 3-D line segments from motion-a mobile robot vision system

The role of vision for the task of robot mobility is discussed. An efficient technique is presented for detecting, tracking, and locating three-dimensional line segments. The utility of this technique has been demonstrated by the SRI mobile robot, which uses it to locate features in an office environment in real time (3-Hz frame rate). A formulation of structure-from-motion using line segments is described. The formulation uses longitudinal as well as transverse information about the endpoints of image line segments. Although two images suffice to form an estimate of a world line segment, more images are used to obtain a better estimate. The system operates in a sequential fashion, using prediction-based feature detection to eliminate the need for global image processing.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>