This paper presents a strategy for fuzzy logic based robot navigation in uncertain environments by multisensor integration. The main idea of the study is to coordinate conflicts and competitions among multiple reactive behaviors efficiently by fuzzy sets and a rule base. To achieve this objective, an array of ultrasonic sensors and a vision system are mounted on a mobile robot. The ultrasonic s...

In this paper, we present a new method for vision-based, reactive robot navigation that enables a robot to move in the middle of the free space by exploiting both central and peripheral vision. The system employs a forward-looking camera for central vision and two side-looking cameras for sensing the periphery of the robot’s visual field. The developed method combines the information acquired b...

The advantages of vision-guided robots are widely recognized in industry and any improvement in the field has a lagre practical impact. First, we present state of the art in globally optimal algorithms in computer vision. The main mathematical aproaches that can be noticed in the field are discussed: polynomial methods, quasi-convex optimization, branch-and-bound algorithm and convex relaxation...

This dissertation describes the work done by the author in the period of his Ph.D. in the field of omnidirectional vision. After a general presentation on omnidirectional vision, the dissertation focuses on omnidirectional vision for mobile robotics. Each chapter of the dissertation covers a different topic in omnidirectional vision for mobile robotics. The three main chapters describe the evol...

This paper presents a vision tracking system, based on the robot motion and vision information. For mobile robots, it is difficult to collect continuous vision information while they are in motion due to the unstable vision information. To solve this problem, the proposed vision tracking system estimates the robot position relative to a target and rotates a camera towards the target based on th...

The aim of this work is to build a cognitive model for the humanoid robot, especially, we are interested in the navigation and mapping on the humanoid robot. The agents used are the Alderbaran NAO robot. The framework is effectively applied to the integration of AI, computer vision, and signal processing problems. Our model can be divided into two parts, cognitive mapping and perception. Cognit...

This paper is concerned with the application of the vision control algorithm for robot's point placement task in discontinuous trajectory caused by obstacle. The presented vision control algorithm consists of four models, which are the robot kinematic model, vision system model, parameters estimation model, and robot joint angle estimation model.When the robot moves toward a target along discon...

This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes & topology descriptions; and finally approaching high-level semantic surface structure descriptions. We demonstrate our robot vision architecture in a customised dual-arm indus...

Vision is a key function not only for robotics but also for AI more generally. Today realtime visual processing is becoming possible; this means that vision based behavior can become more dynamic, opening fertile areas for applications. One aspect of this is real-time visual tracking. We have built a real-time tracking vision system and incorporated it in an integrated robot programming environ...