Visual Looming as a range sensor for mobile robots

1998-01-01
This paper describes and evaluates visual looming as a method for monocular range estimation. The looming algorithm is based on the relationship between displacements of the observer relative to an object, and the resulting change in the size of the object's image on the focal plane of the camera. Though the looming algorithm has been described in detail in prior reports, its usefulness for inexpensive, robust ranging has not been realized widely. In this paper we analyze visual looming as a visual range sensor for autonomous mobile robots. Systematic experiments with a Pioneer I mobile robot show that visual looming can be used to extract ranging information much as with sonar. The accuracy of the looming algorithm is found to be significantly more robust than sonar when the object whose distance is being measured is slanted relative to the robot's line of sight. On the other hand, sonar is better suited for objects that cannot be visually segmented from their background, or objects that do not fit entirely within the focal plane. The results suggest that looming can be used as a robust, inexpensive range sensor as a complement to sonar.
5th International Conference on Simulation of Adaptive Behavior

Suggestions

Mobile robot range sensing through visual looming
Şahin, Erol (1998-01-01)
This article describes and evaluates visual looming as a monocular range sensing method for mobile robots. The looming algorithm is based on the relationship between the displacement of a camera relative to an object, and the resulting change in the size of the object's image on the focal plane of the camera. We have carried out systematic experiments to evaluate the ranging accuracy of the looming algorithm using a Pioneer 1 mobile robot equipped with a color camera. We have also performed noise sensitivit...
Performance of CMS hadron calorimeter timing and synchronization using test beam, cosmic ray, and LHC beam data
Chatrchyan, S.; et. al. (IOP Publishing, 2010-03-01)
This paper discusses the design and performance of the time measurement technique and of the synchronization systems of the CMS hadron calorimeter. Time measurement performance results are presented from test beam data taken in the years 2004 and 2006. For hadronic showers of energy greater than 100 GeV, the timing resolution is measured to be about 1.2 ns. Time synchronization and out-of-time background rejection results are presented from the Cosmic Run At Four Tesla and LHC beam runs taken in the Autumn ...
Sensor fusion, sensitivity analysis and calibration in shooter localization systems
Akman, Caglar; Sonmez, Tolga; Ozugur, Ozgur; Basil, Abdil Burak; Leblebicioğlu, Mehmet Kemal (Elsevier BV, 2018-03-01)
This paper analyses the principles and the underlying mathematical model for acoustic based shooter detection systems. These systems use the muzzle blast and acoustic shock waves to compute the shooter's location. Our detection system works on a distributed sensor network where microphone arrays are used as sensors. Detection algorithms run concurrently at each node. After determining the wave directions, the information is passed to the central node. The central node fuses data coming from each sensor with...
Design optimization of a mixed-flow compressor impeller for a small turbojet engine
Cevik, Mert; Uzol, Oğuz (2011-01-01)
Purpose - This paper aims to present the results of a design optimization study for the impeller of a small mixed-flow compressor. The objective of the optimization is to obtain an impeller geometry that could minimize a cost function based on the specific thrust and the thrust specific fuel consumption of a small turbojet engine.
An embedding technique to determine tau tau backgrounds in proton-proton collision data
Sirunyan, A. M.; et. al. (IOP Publishing, 2019-06-01)
An embedding technique is presented to estimate standard model ττ backgrounds from data with minimal simulation input. In the data, the muons are removed from reconstructed μμ events and replaced with simulated tau leptons with the same kinematic properties. In this way, a set of hybrid events is obtained that does not rely on simulation except for the decay of the tau leptons. The challenges in describing the underlying event or the production of associated jets in the simulation are avoided. The technique...
Citation Formats
E. Şahin, “Visual Looming as a range sensor for mobile robots,” presented at the 5th International Conference on Simulation of Adaptive Behavior, UNIV ZURICH, ZURICH, SWITZERLAND, 1998, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55881.