Multi-Functional Application of Wide-Angle Foveated Vision Sensor in Mobile Robot Navigation

摘要

This paper presents a concrete multi-functional application of Wide-Angle Foveated Vision Sensor (WAFVS) in which a special optical lens, designed by mimicking the human eye , plays a major role. The author has conducted experiments of obstacle avoidance in mobile robot navigation. 3D information of obstacles and locational information of mobile robot, which are characterized by the lens property, are acquired from central vision with high accuracy and peripheral vision with fewer pixels, respectively. Cooperation between them is executed by flexible parallel processing to improve navigation quality.