Guidance of a Mobile Robot using Computer Vision over a Distributed System

Oliver Williams

Abstract

Previously, there have been several 4th-year projects using computer vision to follow a robot and thereby control it. The essence of this project is disconnectedness. The robot is controlled over a wireless link and is no-longer dependent on an umbilical cable. The user control has also been abstracted using CORBA allowing operations to be invoked on the robot from a remote location. Thanks to CORBA, the interface is universal and a small client program can be written to run on any platform connected to the Internet. The robot is monitored by an aerial camera connected to a server machine. This uses a B-spline snake, updated in an affine manner, to estimate the robot’s position in the image. A plane-to-plane homography is established using four known points and the system can map image coordinates to world coordinates. The server can therefore estimate the robot’s position in world coordinates and a discrete control strategy then moves the robot between positions. Such movement may be initiated from either the server or a client machine using CORBA.

Details

Publication typeMastersThesis
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