<title>Intelligent robot control using omnidirectional vision</title>

Abstract

Omnidirectional vision using a wide angle lens with a 2 pi steradian field has been studied for image visualization and navigation for mobile robots. The advantages that can be obtained with the large field of view include instantaneous viewing which permits dynamic control and improved visualization. The significant geometric distortion can be corrected using image processing for either image viewing or target recognition. The purpose of this paper is to present results from the use of omnidirectional vision as an integral component in an intelligent robot control system. Using the vision system for position updates provides a method for accurate position control. Simulation and experimental results are presented of a two level control system which uses encoders for dead reckoning position control and periodic vision position updates. The system appears promising for mobile robot navigation and can lead to a robust control system.