Development of a high speed vision system for mobile robots

Atsushi Konno, Ryo Uchikura, Toshiyuki Ishihara, Teppei Tsujita, Takeaki Sugimura, Jun Deglichi, Mitsumasa Koyanagi, Masaru Uchiyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In order to achieve human-like quick eye movements and image processing for intelligent mobile robots, a high speed vision system is developed. The vision system is composed of a binocular camera head and high speed image sensors. The camera head is originally designed to mount neuromorphic vision chips fabricated using three-dimensional integration technology. The prototype of the neuromorphic vision chip has three layers: (1) photoreceptor layer, (2) horizontal and bipolar cell layer, and (3) ganglion cell layer. An image sensor is separately developed, which corresponds to the photoreceptor layer of the layered vision chip. The image sensors are tentatively mounted on the camera head, since the resolution of the prototype of the layered vision chip is not sufficient at this stage. The camera head has an azimuth DOF for each eye and a common elevation DOF. The weight of the camera head is strictly limited, since it is mounted on a mobile robot. In order to satisfy both demands for the quick movements and light weight, the camera head is designed based upon a simple parallel mechanism. The total performance of the vision system is examined in this work. Saccadic eye movement and frequency response are experimentally reviewed.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1372-1377
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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