Research on Real-time Visual Information Processing

实时视觉信息处理研究

• 批准号: 05044101
• 负责人: YACHIDA Masahiko
• 金额: $ 1.28万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for international Scientific Research
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 无数据
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05044101/
• 关键词: Mobile Robot; Image Understanding; Visual Navigation; Real Time; Omnidirectional Image Sensor; Stereo Camera

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.

在这项研究中，我们利用全向图像传感器（COPIS）和双目视觉建立了机器人导航和理解环境中有趣物体的方法。由于COPIS观察机器人周围的360度视图，机器人总是可以精确地估计自己的位置和运动。在假定机器人与物体线性运动不变的前提下，通过监测物体的方位角变化来检测物体在碰撞路径上的运动。该移动机器人具有双目视觉，可从环境中获取一系列立体图像。我们扩展了三视视觉原理，建立了一系列双目图像之间的对应关系，并建立了环境的三维线框模型。从这个线框模型，我们识别表面和它们之间的空间关系，并了解环境的空间配置。我们计划将全方位图像传感器COPIS和双目视觉结合起来。

项目成果

A.Utsumi: "Recognizing Surface and Spatial Structure of Environment from Wire-frame Model Obtained by Motion Stereo" Proc.Scandinavian Conf.Image Analysis. 441-447 (1993)

A.Utsumi：“从运动立体获得的线框模型中识别环境的表面和空间结构”Proc.Scandinavian Conf.Image Analysis。

Yasushi Yagi: "Map-Based Navigation for A Mobile Robot with Omnidirectional Image Sensor COPIS" IEEE Trans. Robotics and Automation. 10. 1-12 (1994)

Yasushi Yagi：“具有全向图像传感器 COPIS 的移动机器人的基于地图的导航”IEEE Trans。

Yasushi Yagi: "Determination of Free Space by Integrating Omnidirectional Image Sensor COPIS and Ultrasonic Sensor" Proc. Int. Conf. Advanced Mechine. 877-882 (1993)

Yasushi Yagi：“通过集成全向图像传感器 COPIS 和超声波传感器来确定自由空间”Proc。

Yasushi YAGI: "Moving Objects Extraction Using Loci of Subtraction in Image Sequences" Proc. Asian Conf. Computer Vision. 325-328 (1993)

Yasushi YAGI：“使用图像序列中的减法轨迹提取移动对象”Proc。

Yasushi YAGI: "Guidance of a Mobile Robot with Environmental Map using Omnidirectional Image Sensor COPIS" IEICE Trans.Information and Systems. Vol.E76-D, no.4. 486-493 (1993)

Yasushi YAGI：“使用全向图像传感器 COPIS 通过环境地图引导移动机器人”IEICE Trans.Information and Systems。