Development and integration of generic components for a teachable vision-based mobile robot
Development and integration of generic components for a teachable vision-based mobile robot
复制标题
开发和集成可示教的基于视觉的移动机器人的通用组件
DOI：
10.1109/3516.537045
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发表时间：
1996
影响因子：
6.4
通讯作者：
H. Inoue
中科院分区：
文献类型：
--
作者：
T. Shibata;Yosuke Matsumoto;T. Kuwahara;M. Inaba;H. Inoue
本文提出了一种用于人类辅助导航的移动机器人系统——机器人通过接收人类的视觉指令进行导航，并能够自主复制这些指令。我们描述了定义为主机、视觉和控制组件的三个通用组件以及它们在我们的可示教移动机器人中的集成。这些组件通过计算机串行链路相互连接，即它们是松散耦合的，它们并行工作并且彼此异步。每个组件都具有独特的可扩展性特征。尤其是在VISION组件中，有两大特点。第一个是每个视觉板都拥有的相关器。相关器在模板和抓取的图像之间实时进行块匹配。另一个是 PIM 库，它管理移动机器人有限的并行视觉资源上的视觉任务。我们设计的这些功能使系统能够实现实时，并允许高效且可扩展的软件开发。为了展示我们系统设计的可行性，我们在移动机器人上进行了路线示教的初步实验。
This paper presents a mobile robotic system for human assistance in navigation-the robot navigates by receiving visual instructions from a human being and is able to replicate them autonomously. We describe three generic components defined as the HOST, the VISION, and the CONTROL components as well as their integration in our teachable mobile robot. These components are connected to each other via a transputer serial link, namely they are loosely coupled, they work in parallel and are asynchronous with each other. Each component is described with a peculiar feature of extensibility. Especially in the VISION component, there are two major features. The first one is a correlator which each vision board possesses. The correlator does block-matching between the template and the grabbed images in real-time. The other is the PIM library which manages the visual tasks over limited parallel visual resources of the mobile robot. These features of our design enable the system to be real-time and allow for efficient and extensible software development. In order to show the feasibility of our system design, we present a preliminary experiment of the route teaching on our mobile robot.