{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T19:10:01Z","timestamp":1737227401145,"version":"3.33.0"},"reference-count":18,"publisher":"Wiley","issue":"10","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":5558,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp; Computers in Japan"],"published-print":{"date-parts":[[1992,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Recently there has been vigorous research on intelligent mobile robots equipped with vision that can understand and move around in the environment. When a robot moves around in man\u2010made environments, e.g., in buildings, not only is there the danger of collisions with obstacles in front of the robot but there is also the danger of collisions with moving objects approaching the robot from the sides and from behind. For this reason, acquiring information from all directions while the robot is moving is desired.<\/jats:p><jats:p>This paper presents a method that uses the omni\u2010directional image sensor COPIS to detect moving objects in man\u2010made environments (such as in a room) and avoids collisions. Moving objects and obstacles in danger of colliding with the robot are detected from changes in the azimuth angles of the objects from the robot motion. Furthermore, the robot velocity is changed by decelerating as the way to avoid collisions, and the motion and position information of these objects are determined. This motion and position information is obtained by calculating the direction of relative motion between the robot and an object from the movement loci of the azimuth angle of the object obtained from the temporal image sequence before and after a velocity change. The COPIS system can acquire in real time visual images of all the surroundings of the robot by using a conic mirror. Additionally, the results of actual tests are presented when the proposed method is used for a robot moving inside a building in which there are moving objects.<\/jats:p>","DOI":"10.1002\/scj.4690231005","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T21:55:08Z","timestamp":1183845308000},"page":"54-66","source":"Crossref","is-referenced-by-count":0,"title":["Collision avoidance with the omnidirectional image sensor COPIS"],"prefix":"10.1002","volume":"23","author":[{"given":"Yasushi","family":"Yagi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shinjiro","family":"Kawato","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saburo","family":"Tsuji","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087089"},{"issue":"3","key":"e_1_2_1_3_2","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1109\/34.3899","article-title":"VITS\u2010A vision system for autonomous land vehicle navigation","volume":"10","author":"Tunk M.","year":"1988","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.3900"},{"issue":"6","key":"e_1_2_1_5_2","first-page":"967","article-title":"Environmental Recognition of Mobile Robots Using Moving Image Processing","volume":"69","author":"Yasushi Y.","year":"1986","journal-title":"Trans. I.E.I.C.E."},{"issue":"5","key":"e_1_2_1_6_2","first-page":"361","article-title":"Autonomous mobile robots moving on closed roads (mobile robot strategy\u2014Seishin No. 4). Nihon Robotto Gakkaishi (Jap","volume":"5","author":"Mori H.","year":"1987","journal-title":"J. Robotics)"},{"issue":"4","key":"e_1_2_1_7_2","first-page":"275","article-title":"Navigation of mobile robots by cooperating vision sensors and range sensors","volume":"7","author":"Kubota K.","year":"1989","journal-title":"Trans. I.E.I.C.E., Japan (D\u2010II)."},{"issue":"62","key":"e_1_2_1_8_2","article-title":"Analysis of omnidirectional visual images","volume":"89","author":"Ishiguro H.","year":"1989","journal-title":"Information Processing Computer Vision Research Data (Japan)"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"S. J.OhandE. L.Hall.Guidance of a mobile robot using an omnidirectional vision navigation system. Proc. SPIE 852 Mobile Robots II pp.288\u2013300(1987).","DOI":"10.1117\/12.968260"},{"key":"e_1_2_1_10_2","unstructured":"R. A.JarvisandJ. C.Byrne.An automated guided vehicle with map building and path finding capabilities. Proc. 4th Int. Symp. Robotics Research pp.497\u2013504(1988)."},{"key":"e_1_2_1_11_2","article-title":"Omnidirectional environment recognition by conic projections. Papers of Technical Group on Pattern Recognition and Understanding","volume":"89","author":"Yagi Y.","year":"1989","journal-title":"I.E.I.C.E."},{"issue":"5","key":"e_1_2_1_12_2","first-page":"33","article-title":"On the collision avoidance problem for mobile robots. Nihon Robotto Gakkaishi (Jap","volume":"4","author":"Takeno J.","year":"1986","journal-title":"J. Robotics)"},{"issue":"6","key":"e_1_2_1_13_2","first-page":"50","article-title":"Dynamic obstacle avoidance control for mobile robots using fuzzy reasoning","volume":"6","author":"Maeda Y.","year":"1988","journal-title":"Trans. I.E.I.C.E., Japan (D\u2010II)."},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"V.Graefe.An approach to obstacle recognition for autonomous mobile robots. Proc. of the International Workshop on Robotics and Systems pp.151\u2013158(1990).","DOI":"10.1109\/IROS.1990.262381"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"M.Hebert.Building and Navigating Maps of Road Scenes Using an Active Sensor. Proc. of the International Conference on Robotics and Automation pp.1136\u20131142(May1989).","DOI":"10.1109\/ROBOT.1989.100133"},{"key":"e_1_2_1_16_2","first-page":"13","volume-title":"Basic research related to collision avoidance for mobile robots","author":"Takeno J.","year":"1989"},{"key":"e_1_2_1_17_2","first-page":"5","volume-title":"Obstacle avoidance by mobile robots using visual information\u2014The configuration of avoidance for mobile obstructions","author":"Kubota K.","year":"1989"},{"issue":"5","key":"e_1_2_1_18_2","first-page":"794","article-title":"Detection of moving objects in environments photographed by mobile cameras","volume":"69","author":"Yagi Y.","year":"1986","journal-title":"Trans. I.E.C.E. 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