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Omnidirectional vision system applied to mobile robots control.

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Author(s):
Valdir Grassi Júnior
Total Authors: 1
Document type: Master's Dissertation
Press: São Paulo.
Institution: Universidade de São Paulo (USP). Escola Politécnica (EP/BC)
Defense date:
Examining board members:
Jun Okamoto Junior; Fabio Gagliardi Cozman; Anna Helena Reali Costa
Advisor: Jun Okamoto Junior
Abstract

Omnidirectional vision systems can get images with a 360-degree of field of view. This type of system is very well suited for tasks such as robotic navigation, tele-operation and visual servoing. Such systems do not require the movement of the camera to the direction of attention of the robot. On the other hand, it requires a non-conventional image processing as the image captured by this vision system is mapped on a non-linear polar coordinate system. One effective way to obtain an image in an omnidirectional system is through the use of lenses and mirrors. Several different shapes of convex mirrors can be used, mounting the center of the mirror aligned with the camera optical axis. The most commonly used mirror shapes are conic, parabolic, hyperbolic and spherical. In this work a hyperbolical mirror was used to build an omnidirectional vision system. This system was mounted on a mobile robot and used in a control task. The task of interest here is the tracking in real time of a moving target keeping the distance between the robot and the target constant. This task is accomplished with data acquisition from the omnidirectional vision system, that is used as feedback to control the mobile robot in a visual servo approach. (AU)