Real-Time Epipolar Geometry Estimation of Binocular Stereo Heads
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
Visual Cues for a Fixating Active Agent
RobVis '01 Proceedings of the International Workshop on Robot Vision
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Our mobile robot, Spinoza, embodies a sophisticatedreal-time vision system for control of a mobile robotin a dynamic environment. The complexity of ourrobot architecture arises from the wide variety of tasksthat need to be performed and the resulting challenge of coordinating multiple distributed, concurrentprocesses on a diverse range of processor architectures including Transputers, digital signal processors,and a workstation host. The system handles sensing, reasoning, and action components of a robot distributed over these architectures, and responds to unpredictable events in an unknown dynamic environment. Spinoza relies heavily on its capability to perform real-time vision processing in order to perform task such as mapping, navigation, exploration, tracking, and simple manipulation.