Omnivision-based autonomous mobile robotic platform

Zuoliang Cao; Jun Hu; Jin Cao; Ernest L. Hall

doi:10.1117/12.444211

5 October 2001 Omnivision-based autonomous mobile robotic platform

Zuoliang Cao, Jun Hu, Jin Cao, Ernest L. Hall

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444211
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

As a laboratory demonstration platform, TUT-I mobile robot provides various experimentation modules to demonstrate the robotics technologies that are involved in remote control, computer programming, teach-and-playback operations. Typically, the teach-and-playback operation has been proved to be an effective solution especially in structured environments. The path generated in the teach mode and path correction in real-time using path error detecting in the playback mode are demonstrated. The vision-based image database is generated as the given path representation in the teaching procedure. The algorithm of an online image positioning is performed for path following. Advanced sensory capability is employed to provide environment perception. A unique omni directional vision (omni-vision) system is used for localization and navigation. The omni directional vision involves an extremely wide-angle lens, which has the feature that a dynamic omni-vision image is processed in real time to respond the widest view during the movement. The beacon guidance is realized by observing locations of points derived from over-head features such as predefined light arrays in a building. The navigation approach is based upon the omni-vision characteristics. A group of ultrasonic sensors is employed for obstacle avoidance.

Citation Download Citation

Zuoliang Cao, Jun Hu, Jin Cao, and Ernest L. Hall "Omnivision-based autonomous mobile robotic platform", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444211

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