Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
RoboCup 2001: Robot Soccer World Cup V
Polly: a vision-based artificial agent
AAAI'93 Proceedings of the eleventh national conference on Artificial intelligence
Integrating Simple Unreliable Perceptions for Accurate Robot Modeling in the Four-Legged League
RoboCup 2006: Robot Soccer World Cup X
A Minimalistic Model of Visually Guided Obstacle Avoidance and Path Selection Behavior
Proceedings of the international conference on Spatial Cognition VI: Learning, Reasoning, and Talking about Space
Vision-Based Obstacle Avoidance Using SIFT Features
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
An omnidirectional vision system for soccer robots
EPIA'07 Proceedings of the aritficial intelligence 13th Portuguese conference on Progress in artificial intelligence
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We present a complete system for obstacle avoidance for a mobile robot. It was used in the RoboCup 2003 obstacle avoidance challenge in the Sony Four Legged League. The system enables the robot to detect unknown obstacles and reliably avoid them while advancing toward a target. It uses monocular vision data with a limited field of view. Obstacles are detected on a level surface of known color(s). A radial model is constructed from the detected obstacles giving the robot a representation of its surroundings that integrates both current and recent vision information. Sectors of the model currently outside the current field of view of the robot are updated using odometry. Ways of using this model to achieve accurate and fast obstacle avoidance in a dynamic environment are presented and evaluated. The system proved highly successful by winning the obstacle avoidance challenge and was also used in the RoboCup championship games.