Robot Motion Vision Part II: Implementation

Robot Motion Vision Pait I: Theory

A direct method called fixation is introduced for solving the general motion vision problem, arbitrary motion relative to an arbitrary environment. This method results in a linear constraint equation which explicitly expresses the rotational velocity in terms of the translational velocity. The combination of this constraint equation with the Brightness-Change Constraint Equation solves the gene...

Implementation Roadmap using Voronoi Diagrams for Vision-based Robot Motion

In this paper, we present a method to navigate a mobile robot using a webcam. This method determines the shortest path for the robot to transverse to its target location, while avoiding obstacles along the way. The environment is first captured as an image using a webcam. Image processing methods are then performed to identify the existence of obstacles within the environment. Using the Voronoi...

Part II Motion Planning

Fast and Accurate Robot Vision for Vision Based Motion

This paper describes the vision module from the soccer playing robots of the Dutch Team. Fast vision is necessary to get a close coupling with the motion software in order to allow fast turning and dribbling with the ball without loosing it. Accurate vision is necessary for the determination of the robot's position in the field and the accurate estimation of the ball position. Both fast and acc...

MFm: 3-D Motion From 2-D Motion Causally Integrated Over Time - Part II: Implementation

Reducing "Structure From Motion": A General Framework for Dynamic Vision Part 2: Implementation and Experimental Assessment

A number of methods have been proposed in the literature for estimating scene-structure and ego-motion from a sequence of images using dynamical models. Despite the fact that all methods may be derived from a “natural” dynamical model within a unified framework, from an engineering perspective there are a number of trade-offs that lead to different strategies depending upon the applications and...