Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Collision Avoidance Using Omni Vision SLAM Based on Fisheye Image

어안 이미지 기반의 전방향 영상 SLAM을 이용한 충돌 회피

  • Choi, Yun Won (Automotive IT Platform Research Section, ETRI) ;
  • Choi, Jeong Won (Department of Automatic Electrical Engineering, Yeungnam College of Science & Technology) ;
  • Im, Sung Gyu (Department of Electrical Engineering, Yeungnam University) ;
  • Lee, Suk Gyu (Department of Electrical Engineering, Yeungnam University)
  • Received : 2015.05.14
  • Accepted : 2016.01.15
  • Published : 2016.03.01
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Abstract

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.

Keywords

References

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