Robert Castle Wolfson College
Robotics Research Group Department of Engineering Science University of Oxford Michaelmas Term 2006
This transfer report is submitted to the Department of Engineering Science, University of Oxford. This transfer report is entirely my own work, and, except where otherwise indicated, describes my own research.
An autonomous wearable visual robotic assistant is a robot that is worn by a user, and it consists of several parts. Mechanically it consists of at least one camera that may be free to move via a motor assembly, possibly some other sensors such as an inertia sensor, some way of interacting with the wearer, such as a display or audio, and a portable computer. Its can be used to complete a wide range of designated tasks, from simple sensor recording to providing timely, useful information about a user’s environment, and helping to guide a user to a goal or to complete a task. A wearable robot would be of great use in many ﬁelds, such as the military, maintenance, emergency relief work, and tourism. A wearable visual robot that can move semi-independently to its wearer allows it to be able to complete a wider range of tasks than a ﬁxed camera, such as focusing on what a user is doing or looking around a user’s workspace for objects while the user continues to work. To enable a robot to provide a user with useful information about the world, the robot needs to be able to identify objects that are of interest. It then needs to be able to track its location in the world and maintain a map of where the objects are to be able to direct a user to them. To be able to identify objects in an image we review the work done in the ﬁeld of object detection and select SIFT (scale invariant feature transform) as an object detector. To enable the robot to keep track of its position in the world and create a map of features it has observed we review the literature...