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Summary: Combining Central and Peripheral Vision
for Reactive Robot Navigation*
Antonis A. &gyros Fredrik Bergholm
ComputerVision and Robotics Lab. ComputationalVision and Active Perception Lab.
ICSFORTH
Heraklion - Crete - Greece
argyros@ics.forth.gr
Abstract
In thispaper;we present a new methodfor vision-based,
reactive robot navigation that enables a robot to move in
the middle of thefree space by exploiting both central and
peripheral vision. The robot employs a forward-looking
camerafor central vision and twoside-looking camerasfor
sensing the periphery of its visual jield. The developed
method combines the information acquired by this trinocu-
lar vision system and produces low-level motor commands
that keep the robot in the middle of thefree space. The ap-
proachfollows the purposive vision paradigm in the sense
that vision is not studied in isolation but in the context of the
behaviors that the system is engaged as well as the environ-
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