Bio-Inspired, Real-Time Passive Vision for Mobile Robots
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik | [ D ] doktorant
2020
rozdział w monografii naukowej / referat
angielski
- omnidirectional vision
- stereo
- biological inspirations
- robot
EN This chapter describes a new passive vision sensor based on inspirations taken from Nature. The sensor has 360° horizontal field of view, like some insects, and functions inspired by the peripheral/foveal vision cooperation typical to visual perception in vertebrates. To provide the ability of rapid object detection the sensor exploits a catadioptric camera, while a rotating perspective camera makes it possible to measure distances focusing attention on an already detected object. The sensor is designed as a self-contained perception unit and can be used on various mobile robots, even those that have very limited computing power. This autonomy is achieved by employing a single-board embedded computer with parallel processing capabilities. The chapter describes the design of the new sensor, and the software enabling real-time processing of the acquired images and cooperation between the omnidirectional part and the perspective camera. We demonstrate also that the basic software modules of this sensor may be exploited to further implement functions supporting mobile robot navigation.
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