A New Omnidirectional A New Omnidirectional Vision Sensor for the Vision Sensor for the Spatial Semantic Spatial Semantic Hierarchy Hierarchy E E . . Menegatti Menegatti , M. Wright, E. Pagello , M. Wright, E. Pagello Dep. of Dep. of Electronics and Electronics and Informatics Informatics University of University of Padu Padu a ITALY a ITALY
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A New Omnidirectional Vision Sensor for the Spatial Semantic Hierarchy E. Menegatti, M. Wright, E. Pagello Dep. of Electronics and Informatics University.
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A New Omnidirectional A New Omnidirectional Vision Sensor for the Vision Sensor for the
Useful, but seldom Useful, but seldom essentialessential
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
Omnidirectional CameraOmnidirectional Camera
Composed of:Composed of: Standard Colour Standard Colour
Camera Camera Convex MirrorConvex Mirror Perspex CylinderPerspex Cylinder
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
Pros e ConsPros e Cons
AdvantagesAdvantages
Wide vision fieldWide vision field
High speedHigh speed Vertical LinesVertical Lines Rotational Rotational
InvarianceInvariance
DisadvantagesDisadvantages
Low ResolutionLow Resolution
DistortionsDistortions
Low readabilityLow readability
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
Omnidir. Vision and SSHOmnidir. Vision and SSH View Omnidirectional imageView Omnidirectional image
Discriminate b/t “Discriminate b/t “turns”turns” and “ and “travels”travels” Effective Distinctiveness measureEffective Distinctiveness measure
P2P2
P4P4 P3P3
P5P5
P1P1
–Exploring around the blockExploring around the block
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
AssumptionsAssumptions
Man-made environmentMan-made environment
Floor flat and horizontalFloor flat and horizontal
Wall and objects surfaces are verticalWall and objects surfaces are vertical
Static objectsStatic objects
Constant LightingConstant Lighting
Robot translates or rotatesRobot translates or rotates
No encodersNo encoders
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
Features and EventsFeatures and Events
Feature:Feature:– Vertical EdgesVertical Edges
Events:Events:– A new edgeA new edge– An edge disappearAn edge disappear– Two edges 180° apartTwo edges 180° apart– Two pairs of edges 180° Two pairs of edges 180°
apartapart
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
ExperimentsExperiments
Tasks of Caboto:Tasks of Caboto: Navigation;Navigation; Map building;Map building;
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
Caboto’s ImagesCaboto’s Images
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
E. Menegatti - A New Omnidirectional Vision Sensor for SSH
ResultsResults Correct tracking of edgesCorrect tracking of edges ReReccogniognization zation of of actionsactions Calculation of the turn angleCalculation of the turn angle
The path The path segmentationsegmentation
E. Menegatti - A New Omnidirectional Vision Sensor for SSH