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Proceedings Paper

Obstacle avoidance using predictive vision based on a dynamic 3D world model
Author(s): D. Paul Benjamin; Damian Lyons; Tom Achtemichuk
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Paper Abstract

We have designed and implemented a fast predictive vision system for a mobile robot based on the principles of active vision. This vision system is part of a larger project to design a comprehensive cognitive architecture for mobile robotics. The vision system represents the robot's environment with a dynamic 3D world model based on a 3D gaming platform (Ogre3D). This world model contains a virtual copy of the robot and its environment, and outputs graphics showing what the virtual robot "sees" in the virtual world; this is what the real robot expects to see in the real world. The vision system compares this output in real time with the visual data. Any large discrepancies are flagged and sent to the robot's cognitive system, which constructs a plan for focusing on the discrepancies and resolving them, e.g. by updating the position of an object or by recognizing a new object. An object is recognized only once; thereafter its observed data are monitored for consistency with the predictions, greatly reducing the cost of scene understanding. We describe the implementation of this vision system and how the robot uses it to locate and avoid obstacles.

Paper Details

Date Published: 2 October 2006
PDF: 8 pages
Proc. SPIE 6384, Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision, 63840K (2 October 2006); doi: 10.1117/12.686168
Show Author Affiliations
D. Paul Benjamin, Pace Univ. (United States)
Damian Lyons, Fordham Univ. (United States)
Tom Achtemichuk, Pace Univ. (United States)

Published in SPIE Proceedings Vol. 6384:
Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Röning, Editor(s)

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