Figure 14From: A vision system with wide field of view and collision alarms for teleoperation of mobile robotsImages acquired when following wall. Observed reflections are indicated by red circles. (a) No reflections are observed when robot maintains safe distance. (b) Reflection appears when robot is close to wall, and (c) it moves toward center of image when robot approaches wall. (d) Reflection moves away from the center when robot is away from wall.Back to article page