We describe a method for visual based robot navigation with a single omni-directional (catadioptric) camera. We show how omni-directional images can be used to generate the representations needed for two main navigation modalities: Topological Navigation and Visual Path Following. Topological Navigation relies on the robot’s qualitative global position, estimated from a set of omni-directional ...

Auditory displays for mobile systems, such as service robots, have been developed. The design of directional sounds and of additional sounds for robot states (e.g., Heavy Load), as well as the design of more complicated robot sound tracks are explained. Basic musical elements and robot movement sounds have been combined. Two experimental studies, on the understandability of the directional soun...

Catadioptric Omni-Directional Stereo Vision (ODSV) technology is the combination of omni-directional imaging and stereo vision, which has wide application potentials on robot vision and large-scale video surveillance [1-4]. Fig.1 gives the framework of ODSV technology, which includes four major parts: the design of omni-directional stereo vision imaging system, unwarping of omni-directional ste...

Abstract: This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulati...

This paper considers a method for the visual-based navigation of a mobile robot in an indoor environment. The sole sensor used is an omni-directional camera. Navigation is achieved by combining appearance based methods and visual servoing. A database of omni-directional images is obtained during a training stage. This database maps the environment in a topological sense. Since the image set is ...

Joint visual attention is a critical aspect of typical human interactions. Psychophysics experiments indicate that people exhibit strong reflexive attention shifts in the direction of another person’s gaze, but not in the direction of non-social cues such as arrows. In this experiment, we ask whether robot gaze elicits the same reflexive cueing effect as human gaze. We consider two robots, Zeno...

In this paper, we present the method of localization system that uses iGPS (indoor GPS) sensor and Omni‐directional vision sensor in the environment involving landmark. Self‐assembly robots need to know its own position to assemble to other robot. The indoor GPS (iGPS) is a simple and cheap localization sensor to adapt self‐assembly robots in the indoor environment. However, the error range of ...

We use a single mobile robot equipped with a directional antenna to simultaneously localize unknown carrier sensing multiple access (CSMA)-based wireless sensor network nodes. We assume the robot can only sense radio transmissions at the physical layer. The robot does not know network configuration such as size and protocol. We formulate this new localization problem and propose a particle filt...

This paper describes a method to construct a stationary environmental map and estimate the ego-motion of a mobile robot from unknown planar motion by using an omni-directional vision sensor. Most environments where mobile robot works are limited to two-dimensional space and the environmental map which is necessary for mobile robot navigation has also two dimensions. However, conventional “Struc...