An FPGA-Based Omnidirectional Vision Sensor for Motion Detection on Mobile Robots

An omnidirectional vision sensor for fast tracking for mobile robots

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,...

An Omnidirectional Vision System for Outdoor Mobile Robots

The advancements made in microprocessor and image sensory technology have made inexpensive, fast and robust computers and high resolution cameras widely available. This opens up many new possibilities as researchers can now take advantage of the rich visual information of the environment provided by the vision system. However, conventional cameras have a limited field of view, which is a constr...

Sensor-based motion control for mobile robots

An Omnidirectional Vision-Based Moving Obstacle Detection in Mobile Robot

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optica...

An Omnidirectional Vision System for Soccer Robots

This paper describes a complete and efficient vision system developed for the robotic soccer team of the University of Aveiro, CAMBADA (Cooperative Autonomous Mobile roBots with Advanced Distributed Architecture). The system consists on a firewire camera mounted vertically on the top of the robots. A hyperbolic mirror placed above the camera reflects the 360 degrees of the field around the robo...