25 February 1987 Detection and Control of Mobile Robot Motion by Real-Time Computer Vision
Author Affiliations +
Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937788
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
An approach is presented that combines dynamical models of 3D motion with geometric models of the scene and the laws of perspective projection to estimate all motion parameters necessary to control a mobile robot vehicle. The approach is demonstrated by autonomous con-trol of a jet propelled air-cushion vehicle, navigating through a technical environment with three degrees of motion freedom and performing a rendezvous maneuver with a passive partner. Features of the partner and other objects in the scene, the 3D shapes of which are known, are looked for and then tracked by the processors of a multimicroprocessor system. A sequential Kalman filter formulation is used to detect and to cope with variable feature visibility due to occlusion and motion while determining the complete relative motion state without inversion of the projection equations. A scheme is developed for always selecting those features for tracking which yield the best state estimate, the quality of which is demonstrated by physical docking with a static partner. The system operates at 0.13 seconds cycle time, half of which is spent for I/O operations. Experimental results are given.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
H. J. Wunsche, H. J. Wunsche, "Detection and Control of Mobile Robot Motion by Real-Time Computer Vision", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); doi: 10.1117/12.937788; https://doi.org/10.1117/12.937788


Probabilistic modeling of surfaces
Proceedings of SPIE (August 31 1991)
Dynamic Motion Vision
Proceedings of SPIE (February 28 1990)
A real-time vision-based human motion capturing
Proceedings of SPIE (July 30 2006)

Back to Top