Acquiring 3D structure by controlling visual attention of a mobile robot

Abstract

A monocular vision sensor on a mobile robot for finding and tracking a feature point in 3D space while it moves along a route is described. Visual feedback is used to fix the feature point, called the fixation point, at the image center. The precise information of the camera angular velocity is used for estimating 3D structure around the fixation point to build a local map. Mathematical equations for linear and circular robot motions are given. Experimental results show the validity of this method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>