Wide angle vision sensor with fovea-navigation of mobile robot based on cooperation between central vision and peripheral vision

摘要

Presents the wide angle foveated vision sensor (WAFVS) system with a special optical lens, designed by mimicking a human eye, and flexible parallel processing function, examined and advanced by the author. The WAFVS system is applied to navigation of an autonomous mobile robot. As a rational execution of the system, the authors have carried out experiments of obstacle avoidance. 3D information for obstacle avoidance and locational information of the mobile robot are acquired from central vision with high accuracy and peripheral vision with less pixels, respectively Cooperation between them has improved quality of navigation.