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

Yasushi YAGI
Yoshimitsu NISHIZAWA
Masahiko YACHIDA

IEICE TRANSACTIONS on Information and Systems   Vol.E76-D    No.4    pp.486-493
Publication Date: 1993/04/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Image Processing and Understanding)
robot vision,  navigation,  conic projection,  omnidirectional imaging,  environmental map,  

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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.