− Autonomous robots need to acquire both omnidirectional view and stereo in real-time without sacrificing too much image resolution. The recent catadioptric omnidirectional vision sensors provide simple affordable realtime omni-directional images but only at the cost of rather low image resolutions. This work describes a novel omnidirectional stereo image sensor providing the highest resolution...

We are developing an autonomous mobile robotic system to emulate six degree of freedom relative spacecraft motion during proximity operations. A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors. With a six degree of freedom micro-positioning Stewart platform on top of the moving base, six degree of freedom spa...

In this paper, we propose a method for global localization using an omni-directional camera. A robot position and angle are estimated by correlation coefficient between topological node-map images and input images. Near-node has the largest correlation coefficient in topological map images. The calculated correlation coefficient makes the mixtures of Gaussians density map. The highest value of ...

ABSTRAKRobot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari itu sendiri. Dalam pengembangannya, OMR ditambahkan kemampuan lain seperti menuju titik diinginkan dan menghindari rintangan. Pada makalah ini akan merancang mensimulasikan dengan konfigurasi tiga buah menggunakan metode potential field Peran...