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Real-Time Vision on a Mobile Robot Platform

Mohan Sridharan and Peter Stone. Real-Time Vision on a Mobile Robot Platform. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), August 2005.
Some videos of the robot referenced in the paper.
IROS-2005

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Abstract

Computer vision is a broad and significant ongoing research challenge, even when performed on an individual image or on streaming video from a high-quality stationary camera with abundant computational resources. When faced with streaming video from a lower-quality, rapidly moving camera and limited computational resources, the challenge increases. We present our implementation of a vision system on a mobile robot platform that uses a camera image as the primary sensory input. Having to perform all processing, including segmentation and object detection, in real-time on-board the robot, eliminates the possibility of using some state-of-the-art methods that otherwise might apply. We describe the methods that we developed to achieve a practical vision system within these constraints. Our approach is fully implemented and tested on a team of Sony AIBO robots.

BibTeX

@InProceedings(IROS2005-vision,
        author="Mohan Sridharan and Peter Stone",
        title="Real-Time Vision on a Mobile Robot Platform",
        booktitle="{IEEE}/{RSJ} International Conference on Intelligent Robots and Systems (IROS)",
        month="August",year="2005",
        abstract={
                  Computer vision is a broad and significant ongoing
                  research challenge, even when performed on an
                  individual image or on streaming video from a
                  high-quality stationary camera with abundant
                  computational resources. When faced with streaming
                  video from a lower-quality, rapidly moving camera
                  and limited computational resources, the challenge
                  increases. We present our implementation of a vision
                  system on a mobile robot platform that uses a camera
                  image as the primary sensory input. Having to
                  perform all processing, including segmentation and
                  object detection, in real-time on-board the robot,
                  eliminates the possibility of using some
                  state-of-the-art methods that otherwise might
                  apply. We describe the methods that we developed to
                  achieve a practical vision system within these
                  constraints. Our approach is fully implemented and
                  tested on a team of Sony AIBO robots.
        },
        wwwnote={Some <a href="http://www.cs.utexas.edu/users/AustinVilla/?p=research/robust_vision">videos of the robot</a> referenced in the paper.<br> 
<a href="http://user.ee.cuhk.edu.hk/~qhmeng/IROS2005/">IROS-2005</a>},
)

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