| Project/Area Number |
05044101
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| Research Category |
Grant-in-Aid for international Scientific Research
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| Allocation Type | Single-year Grants |
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| Section | Joint Research |
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| Research Institution | Osaka University |
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Principal Investigator |
YACHIDA Masahiko Faculty of Engneering Science Osaka University, Professor, 基礎工学部, 教授 (20029531)
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| Co-Investigator(Kenkyū-buntansha) |
HYUN Seung Yang Korea Advanced Institute of Science and Technology, Associate Professor, 計算機工学科, 準教授
TSUJIMOTO Hiroaki Faculty of Engneering Science Osaka University, Assistant Professor, 基礎工学部, 講師 (90172014)
YAGI Yasushi Faculty of Engneering Science Osaka University, Assistant Professor, 基礎工学部, 講師 (60231643)
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| Project Period (FY) |
1993
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| Project Status |
Completed (Fiscal Year 1993)
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| Budget Amount *help |
¥2,000,000 (Direct Cost: ¥2,000,000)
Fiscal Year 1993: ¥2,000,000 (Direct Cost: ¥2,000,000)
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| Keywords | Mobile Robot / Image Understanding / Visual Navigation / Real Time / Omnidirectional Image Sensor / Stereo Camera |
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| Research Abstract |
In this research, we built the method for navigating the robot and understanding interesting objects in an environment by using the omnidirectional image sensor (COPIS) and binocular vision.
The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot. Based on the assumption of constant linear motions of the robot and objects, the objects moving along collision paths are detected by monitoring azimuth changes.
The mobile robot has binocular vision and obtains a sequence of stereo images from the environment. We extend the principle of trinocular vision to establish correspondence between a sequence of binocular images and build the 3-D wireframe model of the environment. From this wire-frame model, we recognize surfaces and spatial relationships between them and understand spatial configuration of the environment.
We are planning to combine both omnidirectional image sensor COPIS and binocular vision.
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