• Title/Summary/Keyword: mobile vision system

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Recognition Performance of Vestibular-Ocular Reflex Based Vision Tracking System for Mobile Robot (이동 로봇을 위한 전정안반사 기반 비젼 추적 시스템의 인식 성능 평가)

  • Park, Jae-Hong;Bhan, Wook;Choi, Tae-Young;Kwon, Hyun-Il;Cho, Dong-Il;Kim, Kwang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.5
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    • pp.496-504
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    • 2009
  • This paper presents a recognition performance of VOR (Vestibular-Ocular Reflex) based vision tracking system for mobile robot. The VOR is a reflex eye movement which, during head movements, produces an eye movement in the direction opposite to the head movement, thus maintaining the image of interested objects placed on the center of retina. We applied this physiological concept to the vision tracking system for high recognition performance in mobile environments. The proposed method was implemented in a vision tracking system consisting of a motion sensor module and an actuation module with vision sensor. We tested the developed system on an x/y stage and a rate table for linear motion and angular motion, respectively. The experimental results show that the recognition rates of the VOR-based method are three times more than non-VOR conventional vision system, which is mainly due to the fact that VOR-based vision tracking system has the line of sight of vision system to be fixed to the object, eventually reducing the blurring effect of images under the dynamic environment. It suggests that the VOR concept proposed in this paper can be applied efficiently to the vision tracking system for mobile robot.

Study on the Target Tracking of a Mobile Robot Using Active Stereo-Vision System (능동 스테레오 비젼을 시스템을 이용한 자율이동로봇의 목표물 추적에 관한 연구)

  • 이희명;이수희;이병룡;양순용;안경관
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2003.06a
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    • pp.915-919
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    • 2003
  • This paper presents a fuzzy-motion-control based tracking algorithm of mobile robots, which uses the geometrical information derived from the active stereo-vision system mounted on the mobile robot. The active stereo-vision system consists of two color cameras that rotates in two angular dimensions. With the stereo-vision system, the center position and depth information of the target object can be calculated. The proposed fuzzy motion controller is used to calculate the tracking velocity and angular position of the mobile robot, which makes the mobile robot keep following the object with a constant distance and orientation.

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Servo control of mobile robot using vision system (비젼시스템을 이용한 이동로봇의 서보제어)

  • 백승민;국태용
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.540-543
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    • 1997
  • In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate the cumulative location error which exists when relative sensor like encoder is used to locate the position of mobile robot. The effectiveness of the proposed control scheme is shown through computer simulation.

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Visual Servoing of a Mobile Manipulator Based on Stereo Vision

  • Lee, H.J.;Park, M.G.;Lee, M.C.
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.767-771
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    • 2003
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

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Visual Servoing of a Mobile Manipulator Based on Stereo Vision (스테레오 영상을 이용한 이동형 머니퓰레이터의 시각제어)

  • Lee Hyun Jeong;Park Min Gyu;Lee Min Cheol
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.5
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    • pp.411-417
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    • 2005
  • In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

Vision Based Mobile Robot Control (이동 로봇의 비젼 기반 제어)

  • Kim, Jin-Hwan
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.60 no.2
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    • pp.63-67
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    • 2011
  • This paper presents the mobile robot control based on vision system. The proposed vision based controller consist of the camera tracking controller and the formation controller. Th e camera controller has the adaptive gain based on IBVS. The formation controller which is designed in the sense of the Lyapunov stability follows the leader. Simluation results show that the proposed vision based mobile robot control is validated for indoor mobile robot applications.

Path Planning and Obstacle Avoidance for Mobile Robot with Vision System Using Fuzzy Rules (비전과 퍼지 규칙을 이용한 이동로봇의 경로계획과 장애물회피)

  • 배봉규;채양범;이원창;강근택
    • Journal of the Korean Institute of Intelligent Systems
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    • v.11 no.6
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    • pp.470-476
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    • 2001
  • This paper presents a new algorithm of path planning and obstacle avoidance for autonomous mobile robots with vision system that is working in unknown environments. Distance variation technique is used in path planning to approach the target and avoid obstacles in work space as well . In this approach, the Sobel operator is employed to detect edges of obstacles and the distances between the mobile robot and the obstacles are measured. Fuzzy rules are used for trajectory planning and obstacle avoidance to improve the autonomy of mobile robots. It is shown by computer simulation that the proposed algorithm is superior to the vector field approach which sometimes traps the mobile robot into some local obstacles. An autonomous mobile robot with single vision is developed for experiments. We also show that the developed mobile robot with the proposed algorithm is navigating very well in complex unknown environments.

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A study on map generation of autonomous Mobile Robot using stereo vision system (스테레오 비젼 시스템을 이용한 자율 이동 로봇의 지도 작성에 관한 연구)

  • Son, Young-Seop;Lee, Kwae-Hi
    • Proceedings of the KIEE Conference
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    • 1998.07g
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    • pp.2200-2202
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    • 1998
  • Autonomous mobile robot provide many functions such as sensing, processing, and driving. For more intelligent jobs, more intelligent functions are to be added and the existing functions may be updated. To execute a job autonomous mobile robot has a information of surrounding environment. So, robot uses sonar sensor, vision sensor and so on. Obtained sensor information is used map generation. This paper is focused on map generation using stereo vision system.

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Development of a Mobile Robot for Handicapped People

  • Shin, Ig-Awa;Kim, Hyoung-Seop;Ishikawa, Seiji
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.25.2-25
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    • 2001
  • This paper describes a mobile robot intended for being employed in a multi-agent system. We have already proposed a multi-agent system which realizes patient-aid by helping a lying patient take a distant object on the table. In this paper, a mobile robot agent is developed and is included in the system. An effective man-machine communication strategy is proposed by use of a vision agent settled on the ceiling. If a human (assumed to be a patient) wishes to take an object distant on the floor, he points to the object. The vision agent detects the direction of his arm by image processing and guesses which object he intends to take. The vision agent asks him if it is what he wants and, if yes, the mobile robot runs to take and bring it to him. The system is overviewed with the explanation of a mobile robot. Some experimental results are shown with discussion.

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Target Detection of Mobile Robot by Vision (시각 정보에 의한 이동 로봇의 대상 인식)

  • 변정민;김종수;김성주;전홍태
    • Proceedings of the IEEK Conference
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    • 2002.06c
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    • pp.29-32
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    • 2002
  • This paper suggest target detection algorithm for mobile robot control using color and shape recognition. In many cases, ultrasonic sensor(USS) is used in mobile robot system to measure the distance between obstacles. But with only USS, it may have many restrictions. So we attached CCD camera to mobile robot to overcome its restrictions. If visual information is given to robot system then robot system will be able to accomplish more complex mission successfully. With acquired vision data, robot looks for target by color and recognize its shape.

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