Active sensing in vision-based stereotyped motion

Abstract

TV camera is constrained in its visual angle, function of pattern recognition and processing speed. To meet these problems, an active sensing paradigm is applied on such vision-based stereo-typed motions as moving along a sign pattern, moving for sighting and following a person. In each stereo-typed motion the active sensing paradigm is defined by fixed control patterns of locomotion and TV camera panning-tilting. By utilizing a stereo-typed motion with active sensing or its fixed sequence, the robot can decrease searching failures and localization errors of sign patterns and can shorten processing time. By implementing the active sensing on the mobile robot, Harunobu-4, it was able to perform geometrical pattern-paved sidewalk and to turn a corner near which poles or walls stand.<>