초록 ▼

A vision system for a mobile robot 10 comprises an optical sensor subsystem 20 which generates a substantially one dimensional image of an environment, a signal processing subsystem 24 for extracting and enhancing significant vertical visual features from the one dimensional image and a feature proc

A vision system for a mobile robot 10 comprises an optical sensor subsystem 20 which generates a substantially one dimensional image of an environment, a signal processing subsystem 24 for extracting and enhancing significant vertical visual features from the one dimensional image and a feature processing system 26 which analyses rapidly and in real time the extracted features for use by a control system 28 for navigation of the robot. The optical sensor may be a line scan camera having a plurality of outputs which relate to brightness values received from the environment. Triangulation, optical flow and optical flow with log transforms methods are disclosed for processing the one dimensional image data to yield azimuth and/or distance to an object within the environment. Also disclosed is a binocular vision system which generates two, one dimensional images and a method of processing same.

대표청구항 ▼

A vision system for a mobile vehicle comprising: means, having a substantially planar field of view of an environment, for generating a substantially linear, one-dimensional image of the environment through which a mobile vehicle moves, the environment including at least one object, said image gener

A vision system for a mobile vehicle comprising: means, having a substantially planar field of view of an environment, for generating a substantially linear, one-dimensional image of the environment through which a mobile vehicle moves, the environment including at least one object, said image generating means having an output signal for expressing a characteristic of the image at a plurality of points along the substantially one dimensional image; and means, coupled to said output signal, for processing said output signal to determine at least one characteristic associated with a position of the object relative to a position of said mobile vehicle within the environment.