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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|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 13:58|
|Last Modified:||29 Oct 2011 05:44|
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