Efficient biomorphic vision for autonomous mobile robots

Mikhalsky, Maxim (2006) Efficient biomorphic vision for autonomous mobile robots. PhD by Publication, Queensland University of Technology.


Autonomy is the most enabling and the least developed robot capability. A mobile robot is

autonomous if capable of independently attaining its objectives in unpredictable environment.

This requires interaction with the environment by sensing, assessing, and responding to events.

Such interaction has not been achieved. The core problem consists in limited understanding of

robot autonomy and its aspects, and is exacerbated by the limited resources available in a small

autonomous mobile robot such as energy, information, and space.

This thesis describes an efficient biomorphic visual capability that can provide purposeful

interaction with environment for a small autonomous mobile robot. The method used for

achieving this capability comprises synthesis of an integral paradigm of a purposeful autonomous

mobile robot, formulation of requirements for the visual capability, and development of efficient

algorithmic and technological solutions. The paradigm is a product of analysis of fundamental

aspects of the problem, and the insights found in inherently autonomous biological organisms.

Based on this paradigm, analysis of the biological vision and the available technological basis,

and the state-of-the-art in vision algorithms, the requirements were formulated for a biomorphic

visual capability that provides the situation awareness capability for a small autonomous mobile

robot. The developed visual capability is comprised of a sensory and processing architecture, an integral set of motion vision algorithms, and a method for visual ranging of still objects that is based on them. These vision algorithms provide motion detection, fixation, and tracking functionality with low latency and computational complexity. High temporal resolution of CMOS imagers is exploited for reducing the logical complexity of image analysis, and consequently the computational complexity of the algorithms. The structure of the developed algorithms conforms to the arithmetic and memory resources available in a system on a programmable chip (SoPC), which allows complete confinement of the high-bandwidth datapath within a SoPC device and therefore high-speed operation by design. The algorithms proved to be functional, which validates the developed visual capability. The experiments confirm that high temporal resolution

imaging simplifies image motion structure, and ultimately the design of the robot vision system.

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ID Code: 16206
Item Type: QUT Thesis (PhD by Publication)
Supervisor: Sitte, Joaquin & Geva, Shlomo
Keywords: autonomy, mobile robot, biomorphic vision, robot vision system
Divisions: Past > QUT Faculties & Divisions > Faculty of Science and Technology
Past > Schools > School of Software Engineering & Data Communications
Department: Faculty of Information Technology
Institution: Queensland University of Technology
Copyright Owner: Copyright Maxim Mikhalsky
Deposited On: 03 Dec 2008 03:58
Last Modified: 28 Oct 2011 19:44

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