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  • COMSOL Multiphysics
  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) 어안 이미지 기반의 전방향 영상 SLAM을 이용한 충돌 회피
    제목(영문) Collision Avoidance Using Omni Vision SLAM Based on Fisbeye Image
    저자 최윤원 (Yun Won Choi ,Automotive IT Platform Research Team, ETRI ) ▷공저자네트워크등록하기
    최정원 (Jeong Won Choi ,Department of Automatic Electrical Engineering, Yeungnam College of Science & Technology ) ▷공저자네트워크등록하기
    임성규 (O.S.K ,영남대학교 전기공학과 ) ▷공저자네트워크등록하기
    이석규 (Suk Hyu Lee ,영남대학교 전기공학과 ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles 

    keyword omnidirectional vision, vision slam, fish-eye lens, optical flow
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 22
    PAGE 0210
    발표년도 2016
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