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A New Omnidirectional Vision Sensor for the Spatial Semantic Hierarchy

A New Omnidirectional Vision Sensor for the Spatial Semantic Hierarchy. E . Menegatti , M. Wright, E. Pagello. Dep. of Electronics and Informatics. University of Padu a ITALY. Introduction. Robot’s task: Building a topological map of an unknown environment; Sensor:

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A New Omnidirectional Vision Sensor for the Spatial Semantic Hierarchy

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  1. A New Omnidirectional Vision Sensor for the Spatial Semantic Hierarchy E. Menegatti, M. Wright, E. Pagello Dep. of Electronics and Informatics University of Padua ITALY

  2. Introduction Robot’s task: Building a topological map of an unknown environment; Sensor: Omnidirectional vision system; Work’s aim: Prove effectiveness of omnidirectional sensors for Spatial Semantic Hierarchy; E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  3. Spatial Semantic Hierarchy... ... A model of the human knowledge of large spaces Layers: • Sensory Level • Control Level • Causal Level • Topological Level • Metrical Level Interface with the robot’s sensory system Control Laws, Transition of State, Distinctiveness Measure Minimal set of Places, Paths and Regions View, Action, Distinct Place Abstracts Discrete from Continous Distance, Direction, Shape Useful, but seldom essential E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  4. Composed of: Standard Colour Camera Convex Mirror Perspex Cylinder Omnidirectional Camera E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  5. Advantages Wide vision field High speed Vertical Lines Rotational Invariance Disadvantages Low Resolution Distortions Low readability Pros e Cons E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  6. P1 P2 P5 P4 P3 Omnidir. Vision and SSH • View Omnidirectional image • Exploring around the block • Discriminate b/t “turns” and “travels” • Effective Distinctiveness measure E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  7. Assumptions • Man-made environment • Floor flat and horizontal • Wall and objects surfaces are vertical • Static objects • Constant Lighting • Robot translates or rotates • No encoders E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  8. Features and Events Feature: • Vertical Edges Events: • A new edge • An edge disappear • Two edges 180° apart • Two pairs of edges 180° apart E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  9. Tasks of Caboto: Navigation; Map building; Techniques: Edge detection; Colour marking; Experiments E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  10. Caboto’s Images E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  11. E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  12. Results • Correct tracking of edges • Recognization of actions • Calculation of the turn angle The path segmentation E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  13. Mirror Design • Design custom mirror profile • Maximise resolution in ROIs Mirror shape should depend on robot task! Mirror Profile E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  14. Our new mirror E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  15. Conclusion • Omnidirectional vision sensor is a good sensor for map building with SSH • Egomotion of the robot was estimated without active vision • The use of a mirror designed for this application will improve the system E. Menegatti - A New Omnidirectional Vision Sensor for SSH

  16. Compound-eye camera (from Univ. of Maryland, College Park. ) Panoramic cameras (from Apple) Omnidirectional cameras (from University of Picardie - France) Omnidirectional Cameras E. Menegatti - A New Omnidirectional Vision Sensor for SSH

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