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Reliable, safe interaction is essential when humans, robots move in close proximity. In this paper, we present a stigmergic approach where humans interact with robots via a smart floor. Stigmergy has been widely studied in robotic systems, however, HRI has thus far not availed itself of stigmergic solutions. We realize a stigmergic medium via RFID tags embedded in the floor,, use these to enable robot...
This paper presents a seemingly novel approach to accomplishing mobile robot localization and navigation in a large unknown workspace with a set of vision sensors based on an effective on-line calibration strategy. Each adjacent IP camera pair for visual sensing is assumed to have an overlapping field of view, but the positions as well as orientations with respect to either the Cartesian space or...
One of the fundamental requirements of an autonomous mobile robot is that it must not collide with obstacles. This paper addresses the problem of controlling an autonomous robot to avoid obstacles for reactive route following navigation. The four-wheeled mobile robot is equipped with three monocular cameras for route following and a range sensor for obstacle avoidance. The equipped robot moves route...
In this paper, we propose a framework for visual navigation with simultaneous obstacle avoidance. The obstacles are modeled by using a vortex potential field, derived from an occupancy grid. Kinematic redundancy guarantees that obstacle avoidance and navigation are achieved concurrently, and the whole scheme is merely sensor-based. The problem is solved both in an obstacle-free and in a dangerous...
This paper presents a novel method for real-time obstacle detection and recognition in natural terrain for a field mobile robot using a image information, geometric information and support vector machine(SVM). Firstly, the scene is divided into two distinct regions: interest regions and uninterested regions. Then detected obstacle points are clustered into objects on the basis of their geometric information,...
In this paper, a homography-based approach for determining the ground plane using image pairs is presented. Our approach is unique in that it uses a Modified Expectation Maximization algorithm to cluster pixels on images as belonging to one of two possible classes: ground and non-ground pixels. This classification is very useful in mobile robot navigation because, by segmenting out the ground plane,...
We present an innovative path following system based upon multi-camera visual odometry and visual landmark matching. This technology enables reliable mobile robot navigation in real world scenarios including GPS-denied environments both indoors and outdoors. We recover paths in full 3D, making it applicable to both on and off-road ground vehicles. Our controller relies on pose updates from visual...
In this paper we will use stereo camera for 3D modeling of object in indoor environment. For mobile robot, navigation is a very important research area. Stereo vision can provide many information of the environment, and with these information robot can perform high level task. With our stereo vision system, firstly, we get disparity map from frames captured by the stereo camera. Then we extract the...
Most mobile robot teleoperation require monitoring as well as controlling from a remote location. This engages both the hands and the eyes of the human operator for the whole duration of the operation. Aiming at minimizing the human body engagement by freeing the hands of the operator from the controlling task, previous works by the authors proved that both monitoring and controlling can be achieved...
In this paper, we propose a self-localization and path-planning method for mobile robot navigation. An omnidirectional camera and infrared sensors are used to extract the landmarks information of the environment. Due to the large field of view of the omnidirectional camera, the mobile robot can capture the rich information of the environment. The landmark features are detected and extracted from the...
In this paper we propose a circular path planning algorithm using a monocular camera and ultrasonic sensors in order for a mobile robot to avoid obstacles. The proposed circular path algorithm determines the radius of a circular to avoid the detected obstacle using its position and size data. A monocular camera and ultrasonic sensors are used in order to compensate the shortage of usage of each sensor...
In this paper a vision-based algorithm for mobile robot navigation in unknown outdoor environments is proposed. It is based on a simple phenomenon, that when the robot moves forward, projected images of the near obstacles grow in captured frames faster than that of the far objects. The proposed algorithm takes advantage of this property and extracts features from each grabbed frame of the camera and...
In the autonomous city explorer (ACE) project a mobile robot is developed, which is capable of finding its way to a given destination in an unknown urban environment. An exemplary mission is to find the way from our institute to the Marienplatz, a public place in the center of Munich, without any prior knowledge or GPS information. Inspired by the behavior of humans in unknown environments, ACE must...
An intelligent space employing multiple vision sensors is proposed. The union of the sensing ranges of these vision sensors covers a large unknown workspace where a mobile robot can proceed to explore. The goal of this research is to accomplish mobile robot localization and navigation based on such an on-line calibrated sensor network. In particular, each adjacent IP camera pair is assumed to have...
We present a simple approach for vision-based path following for a mobile robot. Based upon a novel concept called the funnel lane, the coordinates of feature points during the replay phase are compared with those obtained during the teaching phase in order to determine the turning direction. Increased robustness is achieved by coupling the feature coordinates with odometry information. The system...
Because of its 360deg field of view, an omni-directional camera is suitable for detecting and tracking environmental features in mobile robot navigation applications. This study aims to investigate simultaneous localization and mapping (SLAM) of a mobile robot using omni-directional images. A switching method of visual reference scans is proposed to facilitate fast visual scan matching in the SLAM...
In this paper, a method of human recognition in indoor environment for mobile robot using RFID (Radio Frequency Identification) technology and stereo vision is proposed as it is inexpensive, flexible and easy to use in practical environment. Because information of human being can be written in ID tags, the proposed method can detect the human easily and quickly compared with the other methods. The...
A novel, simple and efficient method for vision based range measurements with uncalibrated cameras is presented. Required parameters are the image size, the relative distance between two different image frames of the same scene and the field of view of the camera(s). Range measurements acquired using ultrasonic sensors and a vision system have been used to navigate a mobile robot around known colored...
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