Abstract
Described here is a visual navigation method for navigating a mobile robot along a man-made route such as a corridor or a street. We have proposed an image sensor, named HyperOmni Vision, with a hyperboloidal mirror for vision-based navigation of the mobile robot. This sensing system can acquire an omnidirectional view around the robot in real time. In the case of the man-made route, road boundaries between the ground plane and wall appear as a close-looped curve in the image. By making use of this optical characteristic, the robot can avoid obstacles and move along the corridor by tracking the close-looped curve with an active contour model. Experiments that have been done in a real environment are described.
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Yagi, Y., Nagai, H., Yamazawa, K. et al. Reactive Visual Navigation Based on Omnidirectional Sensing – Path Following and Collision Avoidance. Journal of Intelligent and Robotic Systems 31, 379–395 (2001). https://doi.org/10.1023/A:1012047708277
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DOI: https://doi.org/10.1023/A:1012047708277