International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Real-time Omni-directional Distance Measurement with Active Panoramic Vision

  • Yi, Soo-Yeong (Department of Electrical Engineering, Seoul National University of Technology) ;
  • Choi, Byoung-Wook (Department of Electrical Engineering, Seoul National University of Technology) ;
  • Ahuja, Narendra (Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign)
  • Published : 2007.04.30
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Abstract

Autonomous navigation of mobile robot requires a ranging system for measurement of distance to environmental objects. It is obvious that the wider and the faster distance measurement gives a mobile robot more freedom in trajectory planning and control. The active omni-directional ranging system proposed in this paper is capable of obtaining the distance for all 3600 directions in real-time because of the omni-directional mirror and the structured light. Distance computation including the sensitivity analysis and the experiments on the omni-directional ranging are presented to verify the effectiveness of the proposed system.

Keywords

References

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