Abstract
A new layered image processing system is proposed for robots under motion and is evaluated for its performance by implementing it onto a small-size humanoid robot. The proposed system is a layered system in both resolution and processing method. As such, the system can employ appropriate processing methods for layers with different resolutions and, as a result, can avoid unnecessary processing of images corrupted by robot motions. It can improve the image processing speed of floor images because of this and because the image processing is performed simultaneously with robot motions. The proposed method and the results of verification experiments are discussed here.
