Omnidirectional sensing for robot control

MaRDI QIDQ4460315zbMATH OpenFDO

Authors Kostas Daniilidis, Christopher Geyer, Volkan Isler, Ameesh Makadia

Publication date 18 May 2004

zbMATH Keywords

localizationmachine visionmappingmobile robotsomnidirectional camerapolyhedral environmentrobot controlsensor planning

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Machine vision and scene understanding (68T45) Computing methodologies for image processing (68U10) Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Review text

Most of today's mobile robots are equipped with some kind of omnidirectional camera. In the present paper a theoretical framework for working with omnidirectional sensors is performed that covers the entire spectrum from signal processing to sensor planning. In particularly the following questions are considered: Signal question: How can one process images whose domain is not a perspective plane but a sphere? How could one solve homing and localization directly from that image? Geometrical question: How can one solve localization and mapping from multiple views of an omnidirectional camera with a single viewpoint? Planning question: What is the complexity of optimally placing an omnidirectional camera in a known polyhedral environment? Many examples are given. For the entire collection see [Zbl 1030.00055].

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(10)

• Reactive visual navigation based on omnidirectional sensing -- path following and collision avoidance
• Visibility-based planning of sensor control strategies
• Sensing and control on the sphere
• Development of a forward-hemispherical vision sensor for remote control of a small mobile robot and for acquisition of visual-information
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• On-range sensor feedback for mobile robot docking within prescribed posture tolerances
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