Real-time omnidirectional image sensor (COPIS) for vision-guided navigation
Yasushi Yagi, Shinjiro Kawato, Saburo Tsuji · IEEE Transactions on Robotics and Automation · 1994
Describes a conic projection image sensor (COPIS) and its application: navigating a mobile robot in a manner that avoids collisions with objects approaching from any direction. The COPIS system acquires an omnidirectional view around the robot, in real-time, with use of a conic mirror. Based on the assumption of constant linear motion of the robot and objects, the objects moving along collision paths are detected by monitoring azimuth changes. Confronted with such objects, the robot changes velocity to avoid collision and determines locations and velocities.>