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Toward Robot Perception through Omnidirectional Vision [chapter]

José Gaspar, Niall Winters, Etienne Grossmann, José Santos- Victor
2007 Studies in Computational Intelligence  
In conclusion, the goal of this chapter was to work toward building a robot with visual perception capabilities.  ...  In other words, the robot has to be equipped with precise environmental perception capabilities. Vision-based self-localisation derives robot poses from images.  ... 
doi:10.1007/978-3-540-72696-8_9 fatcat:n7ektnhqr5gjdeyjuatrp4bihq

A Survey on Visual Perception for RoboCup MSL Soccer Robots

Xun Li, Huimin Lu, Dan Xiong, Hui Zhang, Zhiqiang Zheng
2013 International Journal of Advanced Robotic Systems  
The paper reviews the advancement of visual perception in RoboCup MSL soccer robots from several points of view including the design and calibration of the vision system, the visual object recognition,  ...  Visual perception is the most important method for providing information about the competition environment for RoboCup Middle Size League (MSL) soccer robots.  ...  Furthermore, because many problems in visual perception for MSL soccer robots are common in computer/robot vision research, this survey is also of value for other researchers in the computer/robot vision  ... 
doi:10.5772/55718 fatcat:5pqwgdx6tjcdvnys5hyoz5form

Object detection for KRSBI robot soccer using PeleeNet on omnidirectional camera

Winarno Winarno, Ali Suryaperdana Agoes, Eva Inaiyah Agustin, Deny Arifianto
2020 TELKOMNIKA (Telecommunication Computing Electronics and Control)  
We employed an omnidirectional vision camera as a visual sensor for a robot to perceive the object's information. We calibrated streaming images from the camera to remove the mirror distortion.  ...  Each contestant tries to win the match by scoring a goal toward the opponent's goal. In order to score a goal, the robot needs to find the ball, locate the goal, then kick the ball toward goal.  ...  We employ omnidirectional camera as our robot visual perception.  ... 
doi:10.12928/telkomnika.v18i4.15009 fatcat:7a67l43jznhkddrpzhi7vktngu

COMBINING AUDIO AND VIDEO SURVEILLANCE WITH A MOBILE ROBOT

EMANUELE MENEGATTI, MANUEL CAVASIN, ENRICO PAGELLO, ENZO MUMOLO, MASSIMILIANO NOLICH
2007 International journal on artificial intelligence tools  
The system prototype presented in this paper is composed of a static acoustic agent and a static vision agent cooperating with a mobile vision agent mounted on a mobile robot.  ...  The robot extends the capabilities of the system by adding a mobile sensor (in this work an omnidirectional camera).  ...  Hiroshi Ishiguro of Osaka University (Japan) for lending us the omnidirectional camera.  ... 
doi:10.1142/s0218213007003321 fatcat:hlyacpxjprdgfazkb7wh2p4cmm

Omnidirectional Distributed Vision System for a Team of Heterogeneous Robots

Emanuele Menegatti, Alberto Scarpa, Dario Massarin, Enrico Ros, Enrico Pagello
2003 2003 Conference on Computer Vision and Pattern Recognition Workshop  
Every robot of the team is fitted with a different omnidirectional vision system running at different frame rates.  ...  The information gathered from every robot is broadcast to all the other robots and every robot fuses its own measurements with the information received from the teammates, building its own "vision of the  ...  , so the robot will move toward it.  ... 
doi:10.1109/cvprw.2003.10068 dblp:conf/cvpr/MenegattiSMRP03 fatcat:6nmem5bqajdmjlffgzqxwy44bq

The marXbot, a miniature mobile robot opening new perspectives for the collective-robotic research

M Bonani, V Longchamp, Stéphane Magnenat, Philippe Rétornaz, D Burnier, G Roulet, F Vaussard, H Bleuler, F Mondada
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Collective and swarm robotics explores scenarios involving many robots running at the same time.  ...  The marXbot provides high-quality vision, using two cameras directly interfaced with an ARM processor.  ...  RELATED WORK At the level of the perception, most robots use vision, either using directional or omnidirectional cameras.  ... 
doi:10.1109/iros.2010.5649153 dblp:conf/iros/BonaniLMRBRVBM10 fatcat:56wspxrqafefbacdt67na2cha4

Cooperation Issues and Distributed Sensing for Multirobot Systems

E. Pagello, A. D'Angelo, E. Menegatti
2006 Proceedings of the IEEE  
, as well as some tests run in laboratory to validate the Omnidirectional Distributed Vision System which allows to share the informations gathered by the omnidirectional cameras of our robots.  ...  In addition, a dynamic role assignment policy among teammates is activated, based on the knowledge about the best behavior that the team is able to acquire through the shared sensorial information.  ...  Fig. 3 . 3 An omnidirectional image processed by the Vision Agent of the perception module. Note that the ball has been detected as the red blob and marked with a yellow cross.  ... 
doi:10.1109/jproc.2006.876919 fatcat:7nnhdgurajg5baxytflh442umi

A State-of-the-Art Review on Mapping and Localization of Mobile Robots Using Omnidirectional Vision Sensors

L. Payá, A. Gil, O. Reinoso
2017 Journal of Sensors  
Among vision systems, omnidirectional sensors stand out due to the richness of the information they provide the robot with, and an increasing number of works about them have been published over the last  ...  The advances in computer vision have led to a substantial increase in the use of cameras as the main sensors in mobile robots.  ...  Vision systems can be used either as the only perception system of the robot or in conjunction with the information provided by other sensors. For example, Choi et al.  ... 
doi:10.1155/2017/3497650 fatcat:5aefih63dzfy7cyrwnvlfbpgza

Omnidirectional Ultrasonic Localization for Mobile Robots

Chen-Chien Hsu, Hsin-Chuan Chen, Ching-Chang Wong, Chien-Yu Lai
2022 Sensors and materials  
The architecture of the proposed localization system includes four ultrasonic receivers deployed around a square measuring environment and a mobile robot carrying an integrated omnidirectional ultrasonic  ...  Experimental results have shown satisfactory accuracy in determining the coordinates of the mobile robot via the proposed localization system.  ...  Ultrasonic Sensors Orientation limitation of ultrasonic sensors Ultrasound TOF sensors have been widely used in mobile robot applications such as distance measurement, environment perception, and robot  ... 
doi:10.18494/sam3419 fatcat:6y5piutr2zc2dmcs6s2bmoonvi

Improving Self-Localization Efficiency in a Small Mobile Robot by Using a Hybrid Field of View Vision System

Marta Rostkowska, Piotr Skrzypczynski
2015 Journal of Automation, Mobile Robotics & Intelligent Systems  
The hybrid vision system consists of an omnidirectional, upward-looking camera with a mirror, and a typical, front-view camera.  ...  We demonstrate that the omnidirectional camera enables the robot to detect quickly landmark candidates and to track the already known landmarks in the environment.  ...  In such case the robot turns towards the nearest landmark.  ... 
doi:10.14313/jamris_4-2015/30 fatcat:vteidier7bcapbjprkkvbpqqfe

TeleParallax: Low-Motion-Blur Stereoscopic System With Correct Interpupillary Distance for 3D Head Rotations

Tomohiro Amemiya, Kazuma Aoyama, Michitaka Hirose
2021 Frontiers in Virtual Reality  
We propose a method called TeleParallax, in which two omnidirectional cameras are separated by the IPD and the direction of the lenses are kept constant in world coordinates by robotic arms during three-dimensional  ...  The results indicate that TeleParallax can provide depth perception that is independent of the head movement with less visual discomfort.  ...  However, if the viewers looked down, they would see the robot arms, which were connected to the omnidirectional cameras. This might affect the subjects' depth perception.  ... 
doi:10.3389/frvir.2021.726285 fatcat:yobi5e5li5bydangxirdickqdu

Insect-inspired omnidirectional vision for autonomous localization on-board a hexapod robot

Julien Dupeyroux, Sean Lapalus, Ilya Brodoline, Stephane Viollet, Julien R. Serres
2020 2020 28th Mediterranean Conference on Control and Automation (MED)  
In this study, we introduce a new insect-inspired omnidirectional visual sensor (640×120 pixels; 120 fps).  ...  This sensor was embedded on-board the AntBot robot, a six-legged walking robot mimicking desert ants at morphological, locomotive and sensing levels.  ...  Further studies made use of omnidirectional vision to help determining topological maps [21] , [22] and converging towards SLAM strategies [23] , [24] .  ... 
doi:10.1109/med48518.2020.9183091 dblp:conf/med/DupeyrouxLBVS20 fatcat:ociec2ofpvd5polinvuaj3fpwy

Following human guidance to cooperatively carry a large object

Jorg Stuckler, Sven Behnke
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
We evaluate our approach in lab experiments using a robot that has an anthropomorphic upper body and an omnidirectional base.  ...  For this human-robot cooperation, the robot must perceive the human and synchronize with its motion. It also must perceive the object to carry.  ...  robot adapt its arm posture to the human-induced motion of the table. A simple steering method then realigns the robot base towards the table.  ... 
doi:10.1109/humanoids.2011.6100917 dblp:conf/humanoids/StucklerB11 fatcat:cptkjbdpk5ebnemsq6ztohvg7i

Rapid and Reliable Quadruped Motion Planning with Omnidirectional Jumping [article]

Matthew Chignoli, Savva Morozov, Sangbae Kim
2022 arXiv   pre-print
The ability to plan through omnidirectional jumping greatly expands the robot's mobility relative to planners that restrict jumping to the sagittal or frontal planes.  ...  Dynamic jumping with legged robots poses a challenging problem in planning and control.  ...  Section VI discusses the results of deploying this framework on the MIT Mini Cheetah Vision, and Section VII concludes the work and looks towards future research. II.  ... 
arXiv:2111.13648v2 fatcat:7357lsfofbelhbxdgmjxuyd2ri

Nonlinear Control Techniques and Omnidirectional Vision for Team Formation on Cooperative Robotics

Christiano Couto Gava, Raquel Frizera Vassallo, Flavio Roberti, Ricardo Carelli, Teodiano Freire Bastos-Filho
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
In this work a robot cooperation strategy based on omnidirectional vision is presented.  ...  The current results are interesting and encourage towards the next steps.  ...  ACKNOWLEDGMENT The authors would like to thank FAPES, through the project FUNCITEC 30.897.360/2005, CAPES (Brazil) and SPU (Argentina), through the binational program CAPG-BA, for their financial support  ... 
doi:10.1109/robot.2007.363680 dblp:conf/icra/GavaVRCF07 fatcat:dithoz5vhfd4riiklp2pah7dpy
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