학술논문
An omnidirectional vision sensor for fast tracking for mobile robots
Document Type
Periodical
Author
Source
IEEE Transactions on Instrumentation and Measurement IEEE Trans. Instrum. Meas. Instrumentation and Measurement, IEEE Transactions on. 49(3):509-512 Jun, 2000
Subject
Language
ISSN
0018-9456
1557-9662
1557-9662
Abstract
We present an omnidirectional vision system we have implemented to provide our mobile robot Rullit with a fast tracking capability. Rullit has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its coverage. The interpretation system is based on focused, multi-level, and opportunistic procedures.