You are here

Bio-Inspired Stereoscopic Ranging Imager for Robot Obstacle Avoidance

Title: Bio-Inspired Stereoscopic Ranging Imager for Robot Obstacle Avoidance.
70 views
30 downloads
Name(s): Stegeman, Thomas, author
DeBrunner, Victor, professor directing thesis
Roberts, Rodney, committee member
Foo, Simon, committee member
Brooks, Geoffery, committee member
Department of Electrical and Computer Engineering, degree granting department
Florida State University, degree granting institution
Type of Resource: text
Genre: Text
Issuance: monographic
Date Issued: 2011
Publisher: Florida State University
Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource
Language(s): English
Abstract/Description: This thesis presents and evaluates a bio-inspired vision system design to increase the depth field of a stereoscopic ranging imager. Two key attributes of the human vision system are leveraged in this design. The first attribute is image stabilization similar to the inner ear semi-circular canals and neck muscles. To accomplish this, an accelerometer and servos were used to stabilize the imager platform. The second human vision attribute used by the design is the ability to change the focal vector. This is accomplished by a servo that tilts the imagers in unison and separate servos that enable each imager to pan independently. The performance metrics of depth field size and resolution of this method are compared to a system that has statically-mounted imagers and a fixed video platform.
Identifier: FSU_migr_etd-1562 (IID)
Submitted Note: A Thesis submitted to the Department of Electrical and Computer Engineering in partial fulfillment of the requirements for the degree of Master of Science.
Degree Awarded: Summer Semester, 2011.
Date of Defense: June 21, 2011.
Keywords: Stabilization, Stereoscopic, Depth Field, Robot Vision
Bibliography Note: Includes bibliographical references.
Advisory Committee: Victor DeBrunner, Professor Directing Thesis; Rodney Roberts, Committee Member; Simon Foo, Committee Member; Geoffery Brooks, Committee Member.
Subject(s): Electrical engineering
Computer engineering
Persistent Link to This Record: http://purl.flvc.org/fsu/fd/FSU_migr_etd-1562
Use and Reproduction: This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s). The copyright in theses and dissertations completed at Florida State University is held by the students who author them.
Host Institution: FSU

Choose the citation style.
Stegeman, T. (2011). Bio-Inspired Stereoscopic Ranging Imager for Robot Obstacle Avoidance. Retrieved from http://purl.flvc.org/fsu/fd/FSU_migr_etd-1562