This paper presents and empirically compares solutions to the problem of vision and self-localization on a legged robot. Specifically, given a series of visual images produced by a camera on-board the robot, how can the robot effectively use those images to determine its location over time? Legged robots, while generally more robust than wheeled robots to locomotion in various terrains (Wetterg...

For robot perception, video cameras are very valuable sensors, but the computer vision methods applied to extract information from camera images are usually computationally expensive. Integrating computer vision methods into a robot control architecture requires to balance exploitation of camera images with the need to preserve reactivity and robustness. We claim that better software support is...

Kecent advances in vision sensors technology and image processing authorize to hope that the use of vision data directly into the control loop of a robot is no more an utopic way. Commonly, the general approach in robot vision is the following: processing vision data into the frame linked to the sensor, converting data into the frame linked to the scene by mean of inverse calibration matrix, co...

In the Robot Vision Laboratory of Purdue University , we have developed two robust architectures for vision-guided mobile robot navigation in indoor environments. The rst approach, FINALE, enables the robot to autonomously navigate in hallways at speeds around 8m=min through vision-based position-updating, utilizing a geometrical map, model-based reasoning and Kalman ltering. The performance of...

In this paper a generic kinematic model for robot structure error analysis is built and then is extended to analyze an active vision system. An active vision system is a robot device for controlling the motion of cameras based on visual information. Because the models are derived from the Denavit-Hartenberg transformation matrix, differential changes for the transformation matrix and link param...

In the Robot Vision Laboratory of Purdue Univer sity we have developed two robust architectures for vision guided mobile robot navigation in indoor en vironments The rst approach FINALE enables the robot to autonomously navigate in hallways at speeds around m min through vision based position updating utilizing a geometrical map model based rea soning and Kalman ltering The performance of the n...

In order to use the mobile robot platform for tracking particular moving objects it is necessary to develop intelligent top level control algorithm. In this paper a computational intelligence based object recognition algorithm in robot vision system is presented. The main goal of this research was to enable DaNI robot to recognize the particular Lego NXT robot among other differently shaped Leg...

Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly impaired by noise, reverberations and other interfering sources. In this context, the detection and localisation of speakers plays a key role since it is the pill...

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visua...

Vision System is important for autonomous robot. In this paper, a robot bionic vision system, which has the function of the human eye movements, is developed to solve the problem of vision instability during robot working. Firstly, according to the eyeball structure and eye movement characteristics, the mechanism of the bionic eye with three degree of freedom (DOF) is designed by using a spheri...