Abstract
With the advent of mobile robots and inboard vision sensors mounted directly on the robot's wrist, new kinds of problems lie in the image processing field as, for example, dynamic scene analysis or motion estimation. The lack of flexibility of real experiments led us to implement at IRISA a general simulation tool devoted to the study of robots using moving vision sensors. VISYR allows us to simulate the image perceived by a robot of its environment during its motion.
The first part of the paper is devoted to the modelling of the 3D scene containing complex objects and to the design of a suitable robotics vision sensor. In the second part, a new algorithm of dynamic management of the local data basis perceived by the sensor is presented. The parameters of the vision sensors are highly adjustable and VISYR is conceived to allow the fast development of algorithms using dynamic vision data.
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Hégron, G., Arnaldi, B. & Priol, T. VISYR: a simulation tool for mobile robots using vision sensors. The Visual Computer 3, 298–303 (1988). https://doi.org/10.1007/BF01914865
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DOI: https://doi.org/10.1007/BF01914865