This master thesis presents a method to determine distances in a scene using only one omnidirectional camera. The algorithm will be integrated with the navigation system for a robotic wheel chair. In contrast to prior work, our method is able to build absolute scale 3D without the need of a known baseline length, traditionally acquired by odometers. Instead we use the ground plane assumption to...

This paper describes an obstacle avoidance method designed specifically for large, non-circular robots with omnidirectional motion capabilities. The method, called OmniNav, is reflexive, meaning that it is able to make navigation decisions without having to discern details of the environment, such as edges. The OmniNav method combines elements of the previously developed Virtual Force Field (VF...

We propose a method for computing the absolute distances to obstacles using only one omnidirectional camera. The method is applied to mobile robots. We achieve this without restricting the application to predetermined translations or the use of artificial markers. In contrast to prior work, our method is able to build absolute scale 3D without the need of a known baseline length, traditionally ...

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,...

Robot technology has recently been applied to many applications help human activities. Mobile is one of the most flexible robot technology. This research uses a mobile designed using an omnidirectional wheel for movement mechanism. Coordination and control multi-robots can be assigned perform any task from different kind field. Therefore, this paper aims develop multi-robot system form formatio...

This article has focused on evaluation and identification of effective parameters in positioning performance with an odometry approach of an omni-directional mobile robot. Although there has been research in this field, but in this paper, a new approach has been proposed for mobile robot in positioning performance. With respect to experimental investigations of different parameters in omni-dire...

In this paper, we present a framework for the hybrid omnidirectional and perspective robot vision system. Based on the hybrid imaging geometry, a generalized stereo approach is developed via the construction of virtual cameras. It is then used to rectify the hybrid image pair using the perspective projection model. The proposed method not only simplifies the computation of epipolar geometry for...

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...

Described here is an integrated miniaturised robot with an omnidirectional visual sensor. The hardware consists of a Gumstix computer and an image sensor mounted on a small fast autonomous mobile robot. An experiment follows which demonstrates that a simple omnidirectional vision method produces reliable wall avoiding behaviour in the robot. This work is part of an on-going research project to ...