We present an omnidirectional vision system we have implemented to provide our mobile robot (Polyphemus - the one with only one eye) with a fast tracking capability. Polyphemus has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its vertical coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures.
Omnidirectional vision sensor for fast tracking for mobile robots
BONARINI, ANDREA;
1999-01-01
Abstract
We present an omnidirectional vision system we have implemented to provide our mobile robot (Polyphemus - the one with only one eye) with a fast tracking capability. Polyphemus has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its vertical coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures.File in questo prodotto:
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