Realizing active vision by a mobile robot
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 205-210
- https://doi.org/10.1109/wvm.1991.212806
Abstract
Most active systems use a camera mounted on a manipulator, because the control of the camera motion is easy and accurate. A limited range of the camera motion by the fixed manipulator, however, often prevents the method from real applications. The paper explores a more general method that a camera on a mobile robot freely moves in the environment and acquires the spatial information based on the active vision paradigm. The camera motion is controlled so as to fix its gaze upon a feature point and to keep the distance to the fixation point constant by visual feedback. The camera motion is determined by its rotation estimated from motions of vanishing points of horizontal lines in the environment. Non-horizontal lines are detected by their motion parallax caused by the linear motion. Experimental results show this feedback can control the camera motion within small deviations from the planned path. The deviations measured in the image are used to compensate for the errors in the 3-D position and the camera motion.<>Keywords
This publication has 5 references indexed in Scilit:
- Dynamic scene analysis for a mobile robot in a man-made environmentPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Acquiring 3D structure by controlling visual attention of a mobile robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Active visionInternational Journal of Computer Vision, 1988
- Determining vanishing points from perspective imagesComputer Vision, Graphics, and Image Processing, 1984
- Geometrical aspects of interpreting images as a three-dimensional sceneProceedings of the IEEE, 1983