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Title:Using omnidirectional vision within the spatial semantic hierarchy
Authors: Emanuele Menegatti ; Enrico Pagello ; Mark Wright
Date:May 2002
Publication Title:Proceedings of ICRA 2002 (International Conference on Robotics and Automation)
Publisher:IEEE Computer Society
Publication Type:Conference Paper Publication Status:Published
Page Nos:908-914
Abstract This paper reports the new steps undertaken in our work aimed to demonstrate the effectiveness of an omnidirectional vision sensor when conjugated with the Spatial Semantic Hierarchy. The Spatial Semantic Hierarchy was proposed by Benjamin Kuipers as a method for map building with robots. In our work, a robot builds a topological map of an unknown environment, using the Spatial Semantic Hierarchy and an omnidirectional vision system as the only sensor. In the paper, we present the new omnidirectional mirror and the new robot. The new mirror was expressly designed for this application, the robot s chassis was designed to create a synergy with the omnidirectional vision sensor. A complete description of our project is reported, underlying the strict link it is possible to create between omnidirectional vision and the Spatial Semantic Hierarchy. Experiments in simulated environments and in real environments produced positive results. omnidirectional vision sensors both on the goal-keeper robot and on two of the attackers. In [13] is described the approach we used to design the two different mirror profiles of the goalie and of the attacker. The profiles of the mirrors are designed on a taskdependent basis.
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Bibtex format
author = { Emanuele Menegatti and Enrico Pagello and Mark Wright },
title = {Using omnidirectional vision within the spatial semantic hierarchy},
book title = {Proceedings of ICRA 2002 (International Conference on Robotics and Automation)},
publisher = {IEEE Computer Society},
year = 2002,
month = {May},
pages = {908-914},

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