Page 13 - Innovations in Intelligent Machines

Contents XIII
5.6 Finding a Path in Dynamic Environments . . . . . . . . . . . . . . . . . . 220
6 Discussion ................................................... 221
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

Toward Robot Perception through Omnidirectional Vision
Jos´ Gaspar, Niall Winters, Etienne Grossmann,
e
e
and Jos´ Santos-Victor ........................................... 223
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
1.1 State of the Art . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
2 Omnidirectional Vision Sensors: Modelling and Design . . . . . . . . . . . . 226
2.1 A Unifying Theory for Single Centre of Projection Systems . . . 228
2.2 Model for Non-Single Projection Centre Systems . . . . . . . . . . . . . 229
2.3 Design of Standard Mirror Profiles ......................... 230
2.4 Design of Constant Resolution Cameras . . . . . . . . . . . . . . . . . . . . 233
2.5 The Single Centre of Projection Revisited . . . . . . . . . . . . . . . . . . . 237
3 Environmental Perception for Navigation . . . . . . . . . . . . . . . . . . . . . . . 238
3.1 Geometric Representations for Precise Self-Localisation . . . . . . . 239
3.2 Topological Representations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
4 Complementing Human and Robot Perceptions
for HR Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.1 Interactive Scene Reconstruction . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
4.2 Human Robot Interface based on 3D World Models . . . . . . . . . . 262
5 Conclusion .................................................. 263
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265