Omnidirectional Vision for Recognition and Control

该奖项以探索性研究小额拨款模式，资助对全方位视觉传感器为移动机器人提供指导和控制信息的潜在能力的调查。这项工作将探讨几个基本问题：(1)用于导航和目标识别的场景解释能否在原始的全方位图像上有效地执行，或者是否有必要补偿此类图像固有的失真；以及(2)如何最好地在全向视觉中使用图像不变量，以最小化机器人导航中的计算。还将对全方位方法进行探索性误差研究和实验验证。最终，本研究有望为移动机器人全方位视觉控制奠定理论基础。

This award, in the Small Grants for Exploratory Research mode, funds an investigation into the potential capabilities of an omnidirectional vision sensor to provide guidance and control information for a mobile robot. The work will explore several basic questions: (1) can scene interpretation for navigation and object recognition be carried out efficiently on "raw" omnidirectional images, or is it necessary to compensate for the distortions inherent in such images; and (2) how best to use image invariants in omnidirectional vision to minimize computation in robotic navigation. Exploratory error studies and experimental validation of the omnidirectional approach will also be carried out. Ultimately this research is expected to develop a theoretical foundation for omnidirectional vision control of a mobile robot.