This paper deals with the detection of arbitrary static objects in traffic scenes from monocular video using structure from motion. A camera in a moving vehicle observes the road course ahead. The camera translation in depth is known. Many structure from motion algorithms were proposed for detecting moving or nearby objects. However, detecting stationary distant obstacles in the focus of expans...

From the regular hexagon of unit size remove circular holes of small radius ε > 0 centered at the vertices, obtaining a region Hε of area 3 √ 3 2 − πε2. For each pair (x, ω) ∈ Hε × [0, 2π] consider a point particle moving at unit speed on a linear trajectory with specular reflections when meeting the boundary. Denote by τhex ε (x, ω) the time it takes the particle to reach one of the holes. Thi...

The task in a motion planning problem for a mobile robot is to nd an obstacle-free path between a starting and a destination point, which will require the minimum possible time of travel. Although there exists many studies involving classical methods and using fuzzy logic controllers (FLCs), they are either computationally extensive or they do not attempt to nd optimal controllers. The proposed...

We describe a method to recognize moving obstacles in a wide view and in real-time. Such an ability is required when a mobile robot moves in a dynamic environment. Our method uses an omnidirectional stereo vision which is composed of a pair of vertically-aligned omnidirectional cameras and a PC cluster to obtain panoramic range information of 360 degrees in real-time. From this range informatio...

Computer-vision based collision risk assessment is important in collision detection and obstacle avoidance tasks. We present an approach to determine both time to collision (TTC) and collision risk for semi-rigid obstacles from videos obtained with an uncalibrated camera. TTC for a body moving relative to the camera can be calculated using the ratio of its image size and its time derivative. In...

AbstructWe present an integrated architecture for real-time planning and control of robot motions, for a robot operating in the presence of moving obstacles whose trajectories are not known a priori. The architecture comprises three control loops: an inner loop to linearize the robot dynamics, and two outer loops to implement the attractive and repulsive forces used by an artificial potential f...

Developing autonomous mobile robot system has been a hot topic in AI area. With recent advances in technology, autonomous robots are attracting more and more attention worldwide, and there are a lot of ongoing research and development activities in both industry and academia. In complex ground environment, obstacles positions are uncertain. Path finding for robots in such environment is very ho...

This paper presents a technique for motion planning which is capable of planning trajectories for a large number of nonholonomic robots. The robots plan within a two dimensional environment that consists of stationary/moving obstacles, and fixed boundaries. Each robot uses randomized motion planner techniques based on Probabilistic Road Maps (PRM’s) to construct it’s own trajectory that is free...

This paper proposes a footstep planning algorithm based on univector field method optimized by evolutionary programming for humanoid robot to arrive at a target point in a dynamic environment. The univector field method is employed to determine the moving direction of the humanoid robot at every footstep. Modifiable walking pattern generator, extending the conventional 3D-LIPM method by allowin...

We present a system for automatically detecting obstacles from a moving vehicle using a monocular wide angle camera. Our system was developed in the context of finding obstacles and particularly children when backing up. Camera viewpoint is transformed to a virtual bird-eye view. We developed a novel image registration algorithm to obtain ego-motion that in combination with variational dense op...