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Omni-Vision for Mobile Robots

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Omni-Vision for Mobile Robots

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    1. E. Menegatti - Omni Vision 32 Map matching Image-based localization Observation of Optical Flow Biomimetic Behaviours Integration of Omni-vision with other sensors: Sonar Laser range finder Outdoor Navigation SLAM (Simultaneous Localization And Mapping) Environment reconstruction & 3D mapping Miscellanea Omni-Vision for Mobile Robots

    2. E. Menegatti - Omni Vision 33 Navigation/Localization Tricks Invariance of Azimuth Rotational Invariance Vertical Lines mapped in radial lines Circumferential continuity Periodicity of the image Robustness to occlusion

    3. 34 Invariance of Azimuth

    4. 35 Rotational Invariance

    5. E. Menegatti - Omni Vision 36 Vertical Lines ? radial lines

    6. 37 Continuity & Periodicity

    7. 38 Robustness to occlusion Thanks to the wide FOV, usually occluding objects do not change much the image Several similarity measures have been proved to be robust to occlusion Extreme case presented by Jogan & Leonardis

    8. 39 Applications

    9. 40 Map matching - 1 Yagi used the vertical edges of the objects to find position of the robot on a map Edges tracking

    10. 41 Map matching - 2 Menegatti et al. used the Chromatic Transitions of Interest to perform scan matching Monte-Carlo Localization Algorithm Almost the same approach used with Laser range Finders

    11. 42 Image-based navigation - 1 Ishiguro and Menegatti: FFT magnitude for position FFT phase for heading Self-organization of the memory Image-based Localisation Hierarchical Localization Image-Based Monte Carlo Localisation

    12. 43 Image-based navigation - 2 Kröse et al: Used Principal Component Analysis to extract linear feature Dataset described in term of eigenimages Probabilistic localization

    13. 44 Image-based navigation - 3 Gross et al: Used slices of the panoramic cylinder Slices confronted via colour histograms Hybrid map: topological map aumented with metric information

    14. 45 Observation of Optical Flow Ishiguro used: Foci of Expansion (FOE) to estimate relative positions No encoder info Svoboda used: Optical flow to discriminate translation and rotations

    15. 46 Biomimetic Behaviours Argyros, A.A.; Tsakiris, D.P.; Groyer, C. Biomimetic centering behavior Robotics & Automation Magazine, IEEE?Publication Date: Dec. 2004?. Vol.11, Iss. 4 pp.21- 30 M.V. Srinivasan. A new class of mirrors for wide-angle imaging. Proceedings, IEEE Workshop on Omnidirectional Vision and Camera Networks. Madison, Wisconsin, USA., June 2003. G.L. Barrows, J.S. Chahl and M.V. Srinivasan (2003) Biomimetic visual sensing and flight control. The Aeronautical Journal, London: The Royal Aeronautical Society, vol, 107, No. 1069, pp. 159-168.

    16. 47 Integration with other sensors Shin-Chieh Wei, Yasushi Yagi and Masahiko Yachida, “On-line Map Building Based On Ultrasonic and Image Sensor, 1996 IEEE Int. Conf. on Robotics and Automation(ICRA-98) 1998

    17. 48 Outdoor Navigation - 1 Omnidirectional Vision for Road Following with NN: Road classification Steering angle

    18. 49 Outdoor Navigation - 2 Paul Blaer and Peter Allen “Topological Mobile Robot Localization Using Fast Vision Techniques” Proceedings of the 2002 IEEE International Conference on Robotics & Automation 2002

    19. 50 Outdoor Navigation - 3 José-Joel Gonzalez-Barbosa and Simon Lacroix Rover localization in natural environments by indexing panoramic images Proceedings of the 2002 IEEE International Conference on Robotics & Automation 2002

    20. 51 SLAM Michael Kaess and Frank Dellaert,? Visual SLAM with a Multi-Camera Rig,? Georgia Tech Technical Report GIT-GVU-06-06, 2006 Thomas Lemaire, Simon Lacroix. Long Term SLAM with panoramic vision. Submitted to Journal of Fields Robotics special issue on "SLAM in the Fields".

    21. 52 Environment Reconstruction

    22. 53 Ritagliare le immagini???Ritagliare le immagini???

    23. 54 One Static Vision Agent (omnidirectional camera) Five Static Acustic Agents (steerable microphone arrays) One Mobile Vision Agent (robot with omnidirectional camera)

    24. 55 The End!

    25. 56 References

    26. 57 References

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