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A conic projection image sensor (COPIS) and its application to guide the navigation of a mobile robot are described. The COPIS system acquires an omnidirectional view around the robot in real-time by using a conic mirror. Under the assumption of constant linear motion of the robot and moving objects, objects moving along collision paths are found by monitoring their azimuth changes. If such objects are found, the robot changes its velocity to avoid collision. Judgment as to whether each object is static or moving and estimation of its location and velocity are possible by the change of the robot's velocity.>
Yagi et al. (Tue,) studied this question.
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