Mobile robot range sensing through visual looming


Creative Commons License

Sahin E. , Gaudiano P.

Joint Conference on the Science and Technology of Intelligent Systems ISIC/CIRA/ISAS, Maryland, Amerika Birleşik Devletleri, 14 - 17 Eylül 1998, ss.370-375 identifier identifier

  • Doi Numarası: 10.1109/isic.1998.713690
  • Basıldığı Şehir: Maryland
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.370-375

Özet

This article describes and evaluates visual looming as a monocular range sensing method for mobile robots. The looming algorithm is based on the relationship between the displacement of a camera relative to an object, and the resulting change in the size of the object's image on the focal plane of the camera. We have carried out systematic experiments to evaluate the ranging accuracy of the looming algorithm using a Pioneer 1 mobile robot equipped with a color camera. We have also performed noise sensitivity for the looming algorithm, obtaining theoretical error bounds on the range estimates for given levels of odometric and visual noise, which were verified through experimental data. Our results suggest that looming can be used as a robust, inexpensive range sensor as a complement to sonar.