Visual Perception of Approaching Object Using Spherical Camera

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This paper describes the model of the sense of approaching based on human visual perception for controlling a robot motion in a vehicle. The previous researches considering with a human sense only discuss a sense for colliding the preceding vehicle in a straight road. Therefore, we propose the model of the sense of approaching based on human visual perception when objects come close from various directions. As a first step, we propose the expansion of KdB method by using a spherical camera for considering the human vision which is objects are projected on the retina. By expanding KdB, we obtain the sensation of approaching which considered KdB and the movement of the projected object on the retina. As an experiment, we perform a driving test using the prototype electric vehicle. We discuss the robot motion according to use the proposed method.

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