이동로봇의 자율주행을 위한 전방향 비젼 시스템의 구현에 관한 연구

초록

This study is regardingthe autonomous navigation of the mobile robot which operates through a sensor,the OmnidirectionalVision System whichmakes it possible to retrieve the real-time movements of the objects and thewalls accessing the robot from all directions and to shorten the processingtime. Afterattempting to extend the field of view by using the reflection system and thenlearning the point of all directions of 2πfrom the robot at thedistance, robot recognizes three-dimensional world through the simple imageprocess, the transform procedure and constant monitoring of the angle anddistance from the peripheral obstacles. This study consists of 3 parts: Part 1 regardsthe process of designing OmnidirectionalVision System and part 2the image process, and part 3 estimates the implementation system through thecomparative study process and three-dimensionalmeasurements.