High-Speed Obstacle Avoidance and Self-Localization for Mobile Robots Based on Omni-directional Imaging of Floor Region

Authors:
Daisuke Sekimori;Tomoya Usui;Yasuhiro Masutani;Fumio Miyazaki
Affiliations:
-;-;-;-
Venue:
RoboCup 2001: Robot Soccer World Cup V
Year:
2002

Citing 2
Cited 2

Computational geometry: algorithms and applications

Computational geometry: algorithms and applications
Real-Time Omnidirectional Image Sensors

International Journal of Computer Vision - Special Issue on Omni-Directional Research in Japan

The Team Description of the Team OMNI

RoboCup 2001: Robot Soccer World Cup V
Vision-Based Obstacle Avoidance Using SIFT Features

ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we propose a method of obstacle avoidance and a method of self-localization based on floor region provided by omni-directional imaging. With our methods, omni-directional imaging is used not for recognition of the three-dimensional environment but for detecting obstacles and landmarks in a wide area at high speed. Several experiments with a real robot according to the rules of the RoboCup Small-Size League was demonstrated, and proved the effectiveness of these methods.